Build #2177 (Oct 21, 2026 3:25:48 PM)

1. fix: 编队变道相关消息 (details)
2. Consolidate platoon planning data into compact PNCInfo message (details)

1. feat: 补齐规划地图显式 Proto Codec (details)
2. feat: 完善规划场景录制与回放链路 (details)
3. chore: 清理回放 Proto 合同格式 (details)
4. docs: 明确 PlanFrame 字段与压缩维护流程 (details)
5. feat: 支持回放服务运行时加载地图 (details)
6. feat: 支持网页拖拽打开 Proto bag (details)
7. fix: 固化拖拽 Bag Server 的运行时版本 (details)
8. fix: 补齐 PlanFrame SDK 版本身份 (details)
9. feat: 将 Proto Bag Server 纳入 OTA bundle (details)
10. fix: 保留直接回放 Bag 的完整时间轴 (details)
11. fix: 按结构合同校验拖拽 Bag (details)
12. feat: 冻结场景回放 encoding v3 基线 (details)
13. fix: 简化离线 bag 服务地图配置 (details)
14. feat: 支持 Live Bridge 零配置启动 (details)
15. docs: 统一回放服务零参数入口 (details)
16. fix: 支持网页按地图包目录加载地图 (details)
17. feat: 提供受限地图文件浏览接口 (details)
18. feat: 完善场景回放数据合同与调试重建 (details)
19. feat: 完善 Live 回放按需观测链路 (details)
20. fix: 修复 Replayer 实时模式卡顿与状态竞争 (details)
21. fix: 避免实时回放插入解码失败空帧 (details)
22. feat: 增加回放数据处理分步耗时统计 (details)
23. fix: 修复实时回放两秒跳帧与无效重算 (details)
24. fix: 压缩实时回放公共与启动上下文 (details)
25. perf: 精简实时回放平滑启动状态 (details)
26. fix: 收紧回放公共与启动状态边界 (details)
27. perf: 精简 SSEP 回放中间状态 (details)
28. docs: 冻结实时回放带宽极限基线 (details)
29. build: 支持回放 SDK 按需源码联编 (details)
30. fix: 允许实时地图等待首帧身份 (details)
31. fix: 从 v2 实时上下文读取地图引用 (details)
32. feat: 完善网页场景回放持久化与压缩 (details)
33. fix: 放宽 BulkOut 两点判定的横向容差 (details)
34. fix: 统一双向 IMV 搜索包络的换向航向补偿 (details)
35. fix: 通过通用参数保持 BulkOut 搜索的车头身份 (details)
36. fix: 清理无搜索阶段的错误重规划上下文 (details)
37. fix: 还原反向作业的 IMV 搜索物理车头朝向 (details)
38. test: 增加 BulkOut 物理车头与路径质量回归 (details)
39. fix: 为振石 BulkOut 搜索保留完整后方点云 (details)
40. feat: 统一振石 IMV 场景的搜索参数配置 (details)
41. test: 严格区分 SSEP 原样回归与参数实验 (details)
42. fix: 重搜期间复用成功路径并实时更新参考线 (details)
43. fix: 自适应调整 KEB 固定尾段优化范围 (details)
44. test: 归档出堆场内圈出口碰撞待修复案例 (details)
45. fix: 统一分段路径衔接判定并修复双向 IMV 漏换向 (details)
46. fix: 修复重合端点的 openspace 建区退化 (details)
47. feat: 新增津西区域识别并接入搜索配置 (details)
48. refactor: 移除振石出场硬编码参数及旧开关兼容 (details)
49. fix: 统一搜索场景参数生命周期并保护配置优先级 (details)
50. refactor: 统一 KEB 路径优化的请求与结果处理 (details)
51. feat: 支持直行堆场路口 KEB 并保持切换路径连续 (details)
52. refactor: 统一 KEB 路径优化的请求与结果处理 (details)
53. feat: 支持直行堆场路口 KEB 并保持切换路径连续 (details)
54. fix: 固定回放带宽基准的默认配置 (details)
55. Anticipate speed constraints in platoon CACC trajectories (details)
56. fix: 恢复快照走廊默认状态与历史起点 (details)
57. perf: 局部计算道路边界带并保持像素结果 (details)
58. perf: 精简占用距离场构建的内存操作 (details)
59. perf: 精确复用相同输入的占用距离场 (details)
60. perf: 移除 DP 无效计算和临时节点分配 (details)
61. test: 固化 DP 优化的结果一致性与耗时基准 (details)
62. Add leader PNC launch with 30 km/h speed override (details)
63. test: 初始化碰撞边界回归的车辆尺寸 (details)
64. fix: 统一搜索生命周期并保留待消费人工请求 (details)
65. fix: 统一地图区间投影并保留合并端点 (details)
66. fix: 统一 KEB 与 SSEP 的闸口点云过滤 (details)
67. fix: 收紧闸口点云过滤默认横向缓冲 (details)
68. fix: 修复沟点轮廓包络与边缘点丢失 (details)
69. feat: 完善 KEB 障碍约束配置及回放 (details)
70. chore: 调整沟点硬安全间距默认值 (details)
71. Preserve stitched acceleration across braking and recovery (details)
72. Normalize numerical stop endpoints without erasing acceleration (details)
73. Add platoon safety and response configuration (details)
74. Continue predicted leader braking until standstill (details)
75. Smooth projected leader motion with consistent derivatives (details)
76. Guard platoon candidates with braking reserve and recovery hold (details)
77. Preserve CACC stop feasibility at low-speed splices (details)
78. Use vehicle response feedback and braking preview in CACC (details)
79. Show platoon headway history with fixed target-centered axes (details)
80. Document platoon safety and response-model behavior (details)
81. fix: 隔离 SSEP 异步搜索的任务输入与结果 (details)
82. fix: 修复起点偏移 open space 任务接收与车头交接 (details)
83. Replace platoon CACC generator with time-headway MPC (details)
84. Fix platoon MPC entry convergence and terminal braking feasibility (details)
85. Fix platoon MPC speed-limit exits and response safety alignment (details)
86. fix: 修复 ARM 回放共享库链接 CUDA 静态库失败 (details)
87. Improve platoon MPC convergence at speed ceilings (details)
88. Remove persistent platoon safety latch (details)
89. build: 默认仅构建和安装 PNC 线上程序 (details)
90. fix: 同路口重搜先停稳并从当前定位构建起点 (details)
91. fix: 保留车后弯道并平滑拼接 SSEP 参考线 (details)
92. fix: SSEP 重搜期间复用有效 KEB 历史路径 (details)
93. fix: 优化 SSEP KEB 首段转向状态变化率 (details)
94. Extract MPC solver into algorithm/platoon and remove lattice forwarding files (details)
95. Extract independent QP solver from longitudinal MPC (details)
96. Split longitudinal MPC generation into maintainable cycle stages (details)
97. Consolidate MPC stages into longitudinal_mpc.cpp (details)
98. Merge MPC cycle stages into LongitudinalMpc (details)
99. feat: 新增可配置的倒车优先拖挂停车策略 (details)
100. test: 收录金玺拖挂停车场景并完善物理质量回归 (details)
101. Group platoon MPC implementation under mpc directory (details)
102. fix: 规划帧时间被发布时刻替换问题 (details)
103. feat: 支持配置低安全阈值区域前后余量 (details)
104. fix: 允许无途径点的充电任务从行驶进入对准 (details)
105. fix: 修复禁搜路口及重搜等待期间的场景退出 (details)
106. fix: 禁止禁搜目标触发连续路口自动重搜 (details)
107. fix: 非最右侧车道缩小龙门吊判断阈值 (details)
108. fix: 兼容不同来源版本的快照显示 (details)
109. docs: 固化正式 Proto 基线的字段增删兼容规则 (details)
110. feat(platoon): follow leader lane-change anchors (details)
111. debug(platoon): trace lane-change slowdown and exclude leader from acceptance checks (details)
112. fix: 限制纵向候选校验采样量以防止规划长时间阻塞 (details)
113. fix(platoon): stabilize lane-change tracking and braking MPC (details)
114. fix(platoon): stabilize MPC and record replayable failure CSVs (details)
115. fix: set leader vehilce speed limit as 70km/h (details)
116. fix: 修复远望 Compact 快照 ZIP 加载失败 (details)
117. fix(platoon): suppress autonomous lane changes while enabled (details)
118. refactor(platoon): use linear MPC with frozen braking gap targets (details)
119. fix：修复局部地图重建时导致的搜索失败次数误累计 (details)
120. fix(platoon): recover inherited response and reserve stopping room (details)
121. fix(platoon): recover speed overshoot during input delay (details)
122. feat(hmi): display current and braking-adjusted platoon headway (details)
123. fix: 统一 Abseil 对象库编译依赖 (details)
124. feat: 支持倒车接货顺序途经搜索与姿态约束 (details)
125. test: 增加 SSEP 现场场景和起始姿态扰动回归 (details)
126. fix(hmi): exclude standstill gap from current headway (details)
127. fix(platoon): recover speed-boundary constraints without losing continuity (details)
128. fix: 区分搜索输入等待与环境构造失败 (details)
129. fix: 修复任务切换后搜索状态卡在 FINISH (details)
130. fix: 选择堆场 KEB 前检查引导线覆盖路口终点 (details)
131. fix(hmi): use aligned MPC state for current headway (details)
132. feat: 添加 Abseil 安装脚本及文档以对齐车端基准 (details)
133. docs: 补充 Abseil 验证结果与回滚步骤 (details)
134. docs(platoon): document manager VehicleInfo interface in Chinese (details)
135. docs(platoon): link interface guide to its Confluence child page (details)
136. docs(platoon): publish linear MPC design report in Chinese (details)
137. fix: 修复地图轮廓异步任务循环引用导致的内存泄漏 (details)
138. build: 添加快照内存修复的分布式编译任务 (details)
139. feat(platoon): project leader history inside car and truck WBCA (details)
140. fix: 扩大津西区域识别范围以覆盖当前地图 (details)
141. fix: 支持无一次规划的倒车接货任务进入散货场景 (details)
142. perf: 减少双向搜索启发计算和 RS 候选分配 (details)
143. fix: 改善有序倒车搜索的引导匹配和起始控制约束 (details)
144. feat: 支持多段停车历史重规划并完善路径验收 (details)
145. fix: 修复静止出堆场搜索起点落在车后 (details)
146. Add WBCA platoon mode with leader geometry and issued trajectory timing (details)
147. Extend WBCA platoon history route along reference line (details)
148. fix: 按目标路口触发连续入场重搜 (details)
149. fix: 补齐出堆场 S 弯和 U 弯区域识别 (details)
150. Capture replayable WBCA failures with time and position save limits (details)
151. Allow WBCA platoon speeds below the reference road speed (details)
152. Restore WBCA platoon route endpoint to leader history (details)
153. Initialize platoon WBCA from current speeds and cap route spacing (details)
154. Use planning start velocity for platoon WBCA timing (details)
155. Restore configured platoon WBCA route spacing (details)
156. Optimize platoon prefix and normal tail in parallel (details)
157. Refactor WBCA into configurable ordered segment pipeline (details)
158. Fix WBCA tail timing and shared articulation initialization (details)
159. Remove unused WBCA local optimization mode (details)
160. fix(wbca): replace divergent history beyond direct-link prefix (details)
161. Resample WBCA second segment from leader boundary to endpoint (details)
162. refactor: 将测试构建配置集中到 Testing 目录 (details)
163. feat: 支持按路口 ID 禁用弯道前后提速 (details)
164. fix：解决西联Z型途经点导致的提前变道问题 (details)
165. fix: 修复 bulk 快照引导线重建和碰撞框绘制 (details)
166. build: 为优化构建保留调试符号并配置 LLDB 查找路径 (details)
167. fix(build): 恢复 Release 现场发布的编译配置 (details)
168. Use qpOASES for platoon MPC quadratic programs (details)
169. Gate platoon following by ego path and mitigate MPC timeouts (details)
170. fix: 限制搜索地图范围并校验 OGM 分配尺寸 (details)
171. fix: 阻止取消任务后重启搜索或接收旧结果 (details)
172. fix: 补齐牵引车泊车规划器的粗路径输出 (details)
173. fix: 在环境构建阶段统一途经点判定与显示 (details)
174. Revise platoon braking reserve and leader deceleration limits (details)
175. Use ego platoon deceleration limit for leader braking (details)
176. fix: 按优化路径目标投影修正 KEB 验收边界 (details)
177. fix: 按首次碰撞位置绘制车体并清理上层碰撞状态 (details)
178. feat: 按车型校验压缩启发表并支持多服务器生成 (details)
179. feat: 从司机快照提取姿态引导线并生成核对图 (details)
180. fix: 修正 SSEP 三点曲率计算的纵坐标读取 (details)
181. feat: 增加停车分阶段优化并统一换挡与曲率校验 (details)
182. feat: 统一保存和回放带挂车姿态的搜索引导库 (details)
183. feat: 自动匹配挂车参考路径引导停车搜索并接入分阶段验收 (details)
184. feat: 按停车场景控制指令重规划的拉直点生成 (details)
185. fix: 调整津西和中铁联集搜索通道构造 (details)
186. fix: 将 SSEP 首段引导线向起点前延伸二十米 (details)
187. chore: 减少 IMV 运动学验收失败时的逐点日志 (details)
188. Optimize platoon QP reuse and gate low-speed following (details)
189. Publish compact current trajectory and lane-change fields in PNCInfo (details)
190. refactor: 用任务选择组统一 Bulk SSEP 规划链 (details)
191. fix: 保留倒车历史回落的车头挂车配对 (details)
192. fix: 修正非零自车路径起点的 OGM 约束位置 (details)
193. fix: 重搜索时移除已完成的停车途经点 (details)
194. fix: 完善多段停车暖启动验收与搜索兜底 (details)
195. fix: 对齐停车回放挂车轮廓与实际障碍输入 (details)
196. fix: 按实际车道航向判断岸边平行连接 (details)
197. feat: 增加开放空间搜索模式与终点诊断日志 (details)
198. feat: 支持津西自动换向出场及剩余路径重搜 (details)
199. fix: 防止出场换向时提前退出 Bulk 场景 (details)
200. fix: 按路径分段优化出堆场限速 (details)
201. fix: use received leader trajectories in auto-drive mode (details)
202. feat: 为 PNC 和回放界面增加全量 Proto 树形查看窗口 (details)
203. refactor: 统一场景数值参数解析 (details)
204. fix: 支持 Auto 出场局部倒车调整并外置调参 (details)
205. refactor: 去除生成源码中重复的 Schema 哈希注释 (details)
206. feat: 支持 bulk 和 open space 参数限速框 (details)
207. feat: add standalone trailer detection bag-to-HTML converter (details)
208. feat(plan): add configurable SSEP path heading refinement (details)
209. fix: 修正多车道场桥障碍物位置 (details)
210. fix: preserve leader stop motion and separate trajectory freshness from coverage (details)
211. fix: MPC time budget 80ms (details)
212. fix: 修复换向点停稳后 Motion 状态机未进入停车态 (details)
213. fix: configure WBCA path length by ego speed (details)
214. feat: 在障碍物标注中显示跟踪帧数 (details)
215. fix: 修正切入车辆跟车与绕行承诺 (details)
216. fix: 避免切入收边强迫已越线车辆回归 (details)
217. fix: 在场景快照中恢复切入跨帧状态 (details)
218. feat: 显示障碍物切入状态和中文详细属性 (details)
219. fix: 稳定编码基准的引导线消融默认状态 (details)
220. fix: 将变道距离锁存推迟到进入变道状态 (details)
221. feat: 支持普通变道到最外侧车道的独立速度配置 (details)
222. fix: 避免巡航负加速度误激活远端停车 (details)
223. fix: 解析校验长时域停车曲线以避免候选误拒绝 (details)
224. fix: 按时间插值消除低速轨迹起点锁存 (details)
225. fix: 恢复回放帧配置并保护共享配置访问 (details)
226. fix: 提前准备会车右让空间并补齐预测尾点检查 (details)
227. fix: 按任务终点与路口中点选择堆场规划器 (details)
228. fix: 合入禁停队列预测并修正整车范围与缓存退出 (details)
229. docs: 补充多分支 Proto 兼容与发布规范 (details)
230. test: 适配临时停车范围的障碍物参数 (details)
231. fix: 避免会车准备段过度收缩绕行空间 (details)
232. fix: 保留静止障碍物短时漏检后的绕行确认依据 (details)
233. fix: 修复一次对准终点停车后未进入锁定状态 (details)
234. fix(wbca): correct collision and distance cost gradients (details)
235. feat: 为 KEB 可视化标注最大航向偏差 (details)
236. feat: 为场景网页增加搜索起终点车框开关 (details)
237. fix(wbca): correct path cost gradients (details)
238. feat: 区分普通点与停车点的前向碰撞检查长度 (details)
239. feat: 支持拖挂车单向精确到达与可配置末端直线 (details)
240. fix: 统一拖挂车前置铰接点的运动学与碰撞模型 (details)
241. fix: 补齐固定尾段入口的三点曲率约束 (details)
242. test: 收录津西航向偏差场景并补充挂车几何诊断 (details)
243. fix: 修正路径曲率与轮角导出的一致性 (details)
244. test: 补充三份津西拖挂航向偏差回归记录 (details)
245. feat: 用几何约束与连续积分改善拖挂路径航向 (details)
246. fix: 为拖挂几何校正保留不可行初值的恢复预算 (details)
247. fix: 修正拖挂几何投影可行性边界并在接近目标时停止 (details)
248. fix: 恢复自动出库首个合法候选并保留较优路径 (details)
249. test: 收录四份自动出库恢复回归记录 (details)
250. feat: 优化场景可视化目录浏览并支持多选下载 (details)
251. fix: 为有序途经点停车接入首合法候选恢复 (details)
252. feat(wbca): add trailer-led reversing path optimizer (details)
253. feat(wbca): integrate reversing truck manager with SSEP (details)
254. fix(wbca): use nearby ego pose for reversing path start (details)
255. fix: 按已验收倒车路径更新途经点进度 (details)
256. fix: 统一起终点清障与停车碰撞验收 (details)
257. fix: 切换场景文件后自动滚动定位当前文件 (details)
258. feat: 支持离线障碍物按坐标半径匹配 (details)
259. fix: 保留场景目录点击文件后的滚动位置 (details)
260. fix: 为精确终点搜索接入首合法候选恢复 (details)
261. fix: 刷新倒车重搜接口的实车起点 (details)
262. fix: 合入变道途经点起终点横向约束 (details)
263. fix: 合入岸桥人工对位防遮挡跟车判断 (details)
264. fix: 合入 SS 优先解除进堆场等待策略 (details)
265. fix: 统一堆高机场终点跟车距离并修复配置回放 (details)
266. feat: 增加默认关闭的岸桥防遮挡跟车开关 (details)
267. fix: 平滑堆高机场终点跟车距离并保护地图索引 (details)
268. fix: 支持拖挂出库禁止倒车并恢复前进可行路径 (details)
269. feat: 为 SSEP 场景增加双端位置触发条件 (details)
270. fix: 修复拖挂出库碰撞恢复与曲率边界收敛 (details)
271. test: 增加五个拖挂出库失败场景回归 (details)
272. fix: 保留圆弧基元曲率限幅的转向方向 (details)
273. fix: 修复拖挂停车搜索优先级与任务换向进度 (details)
274. test: 增加参考倒车点闭环与两段路径回归 (details)
275. fix: 支持离线障碍物仅按起点条件加载 (details)
276. fix: 修复 SSEP 倒超换向点后无法切段 (details)
277. feat(wbca): configure reversing corridor deviation allowance (details)
278. fix: 修复拖挂停车起点派生占用与豁免生命周期 (details)
279. fix: 保存任务 bag 的挂车姿态快照 (details)
280. fix: 调整中铁联集出场引导线起点后延距离 (details)
281. fix: 补齐 HMI 虚拟障碍线操作与持久化诊断日志 (details)
282. fix: 提前准备堆场途径点变道并保留起点门禁 (details)
283. fix: 修复右键重复释放误删超视距线 (details)
284. fix: 修复任务切换后沿用旧路口搜索路径 (details)
285. fix: 将倒车接货终点到位阈值调整为 0.8 米 (details)
286. fix: 修复静止对向车辆绕行许可反复撤销 (details)
287. fix: 按实际时间确认静止车辆绕行等待 (details)
288. feat: add WBCA debug tool and truck reversing configuration (details)
289. fix: reversing wbca distance_thr 0.05 (details)
290. fix: 关闭大榭出场右转掉头终点右侧通道校准 (details)
291. feat: fill reversing WBCA obstacle-to-corridor gaps (details)
292. feat: 完善桥吊动静先验关联与场景回放保存 (details)
293. fix: 回放会话切换时立即清除旧缓存和历史 (details)
294. chore: 增加 Compact 嵌套数值字段审计与编码规则 (details)
295. fix: use readable timestamps for reversing WBCA snapshots (details)
296. feat: display trajectory bounding boxes in WBCA debug viewer (details)
297. feat: 按道路边界收窄 OGM 精细采样区域 (details)
298. feat: 增加 Compact 精确数值编码与 SSEP 几何压缩 (details)
299. test: 完善 Boost 与 Compact 带宽对照 (details)
300. fix: 兼容 OTA 旧版 protobuf 的字段描述符 (details)
301. feat: configure reverse-pickup goal heading offsets (details)
302. fix: apply goal heading offsets to multi-segment parking (details)
303. fix: 修复无界面模式下桥吊标注的 Qt 字体崩溃风险 (details)
304. fix: restrict straightening triggers to final reversing segment (details)
305. fix: 过滤 BulkIn 固定终点重叠障碍物 (details)
306. fix: 约束牵引车停车路径的端点控制曲率 (details)
307. fix: 稳定 GPU 搜索候选队列的优先级顺序 (details)
308. fix: 优先完成停车单次换向搜索再回退多段调整 (details)
309. fix: 换向后优先接续有效倒车路径并保留调整回退 (details)
310. docs: 记录 GPU 测试服务器及验证约定 (details)
311. fix: 保留正向 DP 参考并约束历史边界融合 (details)
312. fix: 剩余停车优先纯倒车并统一历史回退预算 (details)
313. fix: 在单次停车换向中择优主挂车姿态 (details)
314. feat: 为双向 Beam 搜索保留可恢复候选 (details)
315. fix: 优化停车引导匹配并约束换向搜索 (details)
316. test: 固化停车场景回归并完善远端超时清理 (details)
317. fix: 补充停车兼容搜索的起点半曲率采样 (details)
318. test: 固化津西夜间停车场景及起点采样回归 (details)
319. feat: 增加 SSEP 全天场景巡检与多条件筛选界面 (details)
320. fix: 修复障碍物与凸包切换导致的绕行占用中断 (details)
321. test: 增加静止占用跨帧续接的场景回归 (details)
322. fix: 修复静止绕行证据匹配中的非凸轮廓崩溃 (details)
323. fix: 修复侧避栅格越界导致的走廊末端假收缩 (details)
324. fix: 防止前向搜索障碍过滤触发退化多边形崩溃 (details)
325. fix: 修正倒车对象停车线位置偏移 (details)
326. feat: 云端短轨迹平滑补接引导线 (details)
327. feat: 上报 SSEP 搜索起终点的云端轨迹下标 (details)
328. fix: 清理中值滤波器重置时遗留的删除记录 (details)
329. fix: 排除 KEB 的 cut-in 障碍物实体框 (details)
330. Migrate remaining Boost serialization to typed Protobuf (details)
331. fix: preserve actual distances for longitudinal terminal targets (details)
332. fix: restore GCC compatibility with vehicle Abseil archives (details)

Started by upstream project orin-module-ros2 build number 123
originally caused by:

• Started by user wuyanjun
• Replayed #122 (diff)

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• refs/remotes/origin/master

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• origin/dev_ros2

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