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add offboard replay and HTML diagnostics 2026-10-10 18:12:17 +080076c7d56da4e2ac2c5e3e6725902c09f22b978d89feat(keb): add offboard replay and HTML 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2026-10-10 18:12:33 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KEB对换向点运动放向增加额外包络圆 2026-10-10 18:12:58 +0800fec9b7ac2fc8c1245997638bc48d4443c5a5fabbfeat: 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二次优化的planner配置对应的参数 2026-10-10 18:13:28 +0800cb36399d4d50601abe76477dcdf4bebd77285072feat: 二次优化的planner配置对应的参数editssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_general_planner.heditssep/scenarios/straddle_carrier_general_planner.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/test/keb_softmin_collision_test.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/offboard/diagnostic/report_template.htmleditssep/scenarios/truck_accurate_reversing_planner.cceditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/offboard/diagnostic/optimizer_parameters.heditssep/keb_optimizer/configuration_fields.heditssep/keb_optimizer/planning_profile.heditssep/scenarios/tractor_trailer_enter_yard_planner.hssep/scenarios/truck_multi_seg_general_planner.hssep/test/keb_softmin_collision_test.ccssep/data_structures/ssep_input.ccssep/scenarios/imv_exit_parking_spot_planner.hssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/configuration_fields.hssep/keb_optimizer/parameters_proto_codec.hssep/keb_optimizer/planning_profile.hdata/config/cfg_lat_plan.cppssep/scenarios/imv_enter_yard_planner.hdata/ssep/ssep_ec.cppssep/keb_optimizer/keb_configuration.hssep/keb_optimizer/configuration_yaml.hreplayer/scene_data/generated/compact_scene_descriptor.pbssep/protos/params.protoproto/keb_scene.prototools/pnc_proto_mapper/sync_config_schema.pyssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/recorded_stage_defaults.hssep/protos/scene.prototasks/plan/keb_utils.cppssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/scenario_optimizer_defaults.hdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdssep/keb_optimizer/keb_problem.hssep/scenarios/straddle_carrier_pick_vehicle_planner.hreplayer/scene_data/compact_proto_codec.cppoffboard/keb_path_opt_cli/keb_run_options.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/offboard/ssep_planner_wrapper.ccssep/keb_optimizer/parameters.htasks/plan/keb_path_optimize_task.cppssep/scenarios/two_stage_planner_composer.hdata/config/cfg_lat_plan.hppssep/keb_optimizer/recorded_profile.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/keb_optimizer/planning_profile_yaml.hoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/PLANNING_PROFILES.mdreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/scenarios/truck_fuzzy_reversing_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/offboard/scene_replay/replay_scene_frame_cli.ccdata/config/cfg_ssep.hppssep/scenarios/straddle_carrier_general_planner.hssep/keb_optimizer/imv_collision_model.htasks/plan/keb_utils.hppssep/offboard/diagnostic/report_template.htmlssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hpptasks/plan/keb_path_optimize_task.hppTesting/CMakeLists.txtreplayer/scene_data/generated/plan_frame_descriptor.pbssep/scenarios/truck_bulk_yark_in_out_planner.ccTesting/keb_parameters_config_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/scenarios/truck_remote_guided_escape_planner.hssep/param_loader/param.hdata/ssep/ssep_scenario_config_loader.cppssep/offboard/diagnostic/optimizer_parameters.htools/pnc_proto_mapper/test_config_schema_presence.pyreplayer/scene_data/compact_custom_field_proto_codec.cppssep/scenarios/scenario_planner_interface.hTesting/keb_roadside_footprint_test.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ssep/ssep_activation.cppproto/pnc_scene/compact_replay_input.protossep/scenarios/legacy_planner.hssep/test/diagnostic_geometry_test.jsreplayer/replayer_data_process/replayer_data_extraction.cppreplayer/scene_data/config_proto_codec.cppssep/ssep_planner.hREADME.mdssep/keb_optimizer/configuration_ros.hdata/ssep/into_yard_junction_ec.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hoffboard/keb_path_opt_cli/keb_single_frame_cli.ccssep/ssep_planner.ccssep/scenarios/imv_pullover_planner.htasks/plan/keb_lane_follow_path_task.cppproto/plan_data.protooffboard/keb_path_opt_cli/keb_scene_converter.ccreplayer/scene_data/full_custom_codec_exclusions.yamlssep/keb_optimizer/optimizer_parameters.hssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/scenarios/imv_general_planner.hreplayer/scene_data/generated/config_schema_inputs.jsonssep/scenarios/truck_u_turn_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hTesting/scene_replay_foundation_test.cppalgorithm/plan/keb_optimizer.cppssep/offboard/diagnostic/optimization_overview.jsssep/scenarios/imv_multi_segment_parking_planner.hreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppssep/scenario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Protobuf map普通序列化顺序不稳定导致快照校验失败的问题 keb配置参数方案重构 2026-10-10 18:32:10 +0800f32984cb6816801a1c2b492cdf6b8add76fd4ffdfix: Protobuf map普通序列化顺序不稳定导致快照校验失败的问题 keb配置参数方案重构editssep/test/keb_softmin_collision_test.cceditssep/scenarios/truck_remote_guided_escape_planner.heditssep/keb_optimizer/keb_problem.cceditreplayer/scene_data/generated/plan_frame_encoder.cppeditssep/scenarios/truck_multi_segment_parking_planner.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditdata/config/cfg_lat_plan.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/param_loader/param.heditssep/scenarios/scenario_planner_factory.heditreplayer/replayer_data_process/replayer_data_extraction.cppeditreplayer/scene_data/compact_proto_codec.cppeditssep/scenarios/imv_pullover_planner.heditssep/scenarios/imv_multi_segment_parking_planner.heditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditssep/offboard/ssep_planner_wrapper.cceditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/ssep_planner.heditssep/keb_optimizer/keb_problem.heditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/scenarios/truck_multi_seg_general_planner.heditssep/scenarios/imv_enter_yard_planner.heditreplayer/scene_data/full_proto_custom_encoder.cppeditssep/scenarios/imv_general_planner.heditssep/data_structures/ssep_input.hppdeletessep/keb_optimizer/recorded_profile.hedittasks/plan/keb_path_optimize_task.cppeditdata/ssep/into_yard_junction_ec.cppeditssep/keb_optimizer/configuration_yaml.heditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditssep/scenarios/truck_bulk_yark_in_out_planner.cceditoffboard/keb_path_opt_cli/keb_single_frame_cli.ccaddssep/keb_optimizer/parameters_proto_codec.heditreplayer/scene_data/compact_custom_field_proto_codec.cppeditssep/keb_optimizer/imv_keb_optimizer.heditreplayer/scene_data/config_proto_codec.cppeditdata/config/cfg_lat_plan.hppeditssep/keb_optimizer/imv_collision_model.heditssep/scenarios/scenario_planner_interface.heditssep/scenarios/imv_exit_parking_spot_planner.heditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdeletessep/keb_optimizer/planning_profile_yaml.heditreplayer/scene_data/plan_frame_field_roles.csvedittools/pnc_proto_mapper/test_config_schema_presence.pyeditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/tractor_trailer_lane_change_planner.heditssep/scenarios/two_stage_planner_composer.heditreplayer/scene_data/generated/compact_scene_descriptor.pbeditssep/protos/params.protodeletessep/keb_optimizer/configuration_ros.heditTesting/ssep_scenario_config_lifecycle_test.cppeditproto/keb_scene.protoaddTesting/keb_parameters_config_test.cppaddssep/keb_optimizer/optimizer_parameters.heditssep/test/diagnostic_geometry_test.jseditssep/protos/scene.protoeditreplayer/scene_data/generated/config_schema_inputs.jsoneditdata/ssep/ssep_scenario_config_loader.cppeditdata/ssep/ssep_activation.cppeditoffboard/keb_path_opt_cli/keb_run_options.cceditTesting/keb_roadside_footprint_test.cppeditoffboard/keb_path_opt_cli/keb_run_options.hppaddssep/keb_optimizer/scenario_optimizer_defaults.heditssep/keb_optimizer/configuration_fields.heditssep/scenarios/tractor_trailer_short_distance_planner.heditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditproto/plan_data.protoeditssep/scenarios/legacy_planner.heditssep/scenarios/tractor_trailer_enter_parking_spot_planner.hedittasks/plan/keb_lane_follow_path_task.cppaddssep/keb_optimizer/recorded_stage_defaults.heditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_path_optimize_task.hppeditssep/scenarios/truck_general_planner.heditdata/config/cfg_ssep.hppeditREADME.mdeditproto/pnc_scene/compact_replay_input.protoeditssep/scenarios/straddle_carrier_pick_vehicle_planner.hedittasks/plan/keb_utils.hppedittasks/plan/keb_lane_follow_path_task.hppeditssep/offboard/diagnostic/optimizer_parameters.heditoffboard/keb_path_opt_cli/keb_simulator.cceditproto/config.protoaddssep/keb_optimizer/parameters.heditssep/scenarios/imv_enter_station_planner.hedittasks/plan/keb_utils.cppedittools/pnc_proto_mapper/sync_config_schema.pyeditssep/offboard/diagnostic/report_template.htmleditssep/scenarios/straddle_carrier_general_planner.hdeletessep/keb_optimizer/planning_profile.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/truck_u_turn_planner.heditssep/keb_optimizer/imv_keb_optimizer.ccaddssep/keb_optimizer/optimizer_defaults.heditdata/ssep/ssep_ec.cppeditssep/scenarios/truck_fuzzy_reversing_planner.heditTesting/CMakeLists.txteditssep/keb_optimizer/keb_configuration.heditTesting/scene_replay_foundation_test.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/data_structures/ssep_input.cceditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/scenarios/truck_accurate_reversing_planner.cceditssep/ssep_p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IMV默认包络统一 2026-10-10 18:32:22 +0800c221323461d1def91bae8a0aad4fa0ff5ed2b130feat: IMV默认包络统一editssep/keb_optimizer/optimizer_parameters.hssep/offboard/scene_frame_provider.ccssep/test/CMakeLists.txtssep/offboard/diagnostic/search_experience.jsssep/test/local_regression/run_tt_single_parking_case.pyssep/offboard/diagnostic/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/search_process_test.jsssep/offboard/diagnostic/planning_attempt.hssep/offboard/cli/README.mdssep/test/light_search_test.ccssep/offboard/diagnostic/report.hssep/offboard/diagnostic/trace.hssep/offboard/cli/analysis_options.hdocs/reverse_pickup_search.mdssep/offboard/scene_replay/README.mdssep/keb_optimizer/PLANNING_PROFILES.mdssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/test/analysis_options_test.ccssep/test/analysis_completion_test.bashssep/offboard/scene_replay/replay_scene_frame_cli.ccoffboard/keb_path_opt_cli/SINGLE_FRAME.mdssep/offboard/scene_replay/CMakeLists.txtREADME.mdssep/offboard/diagnostic/report_template.htmlssep/offboard/cli/analysis_completion.bashssep/offboard/diagnostic/optimization.hssep/offboard/diagnostic/light_search.hssep/offboard/diagnostic/search_process.jsoffboard/keb_path_opt_cli/keb_single_frame_cli.ccoffboard/keb_vis_server/foxglove/keb_to_mcap.pyf90d048be708b49817d18ae3f31fa817d6d7d3521791628342000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: html分析工具增加路径几何 2026-10-10 18:32:22 +0800f90d048be708b49817d18ae3f31fa817d6d7d352feat: html分析工具增加路径几何addssep/offboard/diagnostic/light_search.heditssep/offboard/scene_replay/README.mdeditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/offboard/diagnostic/README.mdeditssep/offboard/diagnostic/report_template.htmleditREADME.mdeditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/offboard/diagnostic/trace.haddssep/test/light_search_test.cceditdocs/reverse_pickup_search.mdaddssep/offboard/diagnostic/search_process.jseditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyaddssep/offboard/cli/README.mdeditssep/test/CMakeLists.txtaddssep/offboard/cli/analysis_options.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditoffboard/keb_path_opt_cli/SINGLE_FRAME.mdaddssep/test/analysis_completion_test.bashaddssep/test/search_process_test.jseditssep/offboard/diagnostic/search_experience.jsaddssep/offboard/diagnostic/planning_attempt.haddssep/test/analysis_options_test.cceditoffboard/keb_path_opt_cli/keb_single_frame_cli.cceditssep/test/local_regression/run_ssep_regression.pyeditssep/offboard/diagnostic/optimization.heditssep/offboard/diagnostic/report.heditssep/test/local_regression/run_tt_single_parking_case.pyeditssep/offboard/scene_frame_provider.cceditssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.ccaddssep/offboard/cli/analysis_completion.basheditssep/offboard/scene_replay/CMakeLists.txtdata/ssep/out_yard_junction_ec.hppalgorithm/plan/keb_optimizer.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/test/keb_softmin_collision_test.ccdata/ssep/ssep_scenario_config_loader.cppssep/offboard/diagnostic/optimizer_parameters.hssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/configuration_fields.hssep/offboard/cli/README.mdssep/keb_optimizer/parameters_proto_codec.hssep/test/keb_normal_extension_test.ccoffboard/bag_to_keb_scene/bag_reader.hppconfig/config_truck/ssep_port_scenarios_jinxi.yamldata/config/cfg_lat_plan.cppoffboard/bag_to_keb_scene/bag_reader.ccssep/test/parking_collision_provenance_test.ccssep/offboard/cli/analysis_options.hssep/test/online_merge_retention_test.ccdata/ssep/ssep_ec.cppssep/keb_optimizer/configuration_yaml.hreplayer/scene_data/generated/compact_scene_descriptor.pbssep/protos/params.protoproto/keb_scene.protodata/ssep/forward_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.hppreplayer/replayer_data_process/replayer_data_extraction.cppreplayer/scene_data/config_proto_codec.cppoffboard/bag_to_keb_scene/README.mdssep/keb_optimizer/recorded_stage_defaults.hREADME.mdtasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/ssep/into_yard_junction_ec.cppssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccoffboard/keb_path_opt_cli/keb_replay_input.hppdocs/pnc_algorithm_replay/plan_frame_field_workflow.mddata/ssep/ssep_scenario_config.cppssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hoffboard/keb_path_opt_cli/keb_single_frame_cli.ccssep/scenarios/imv_pullover_planner.hdata/ssep/reverse_ec.hpptasks/plan/keb_lane_follow_path_task.cppssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.ccssep/test/CMakeLists.txtreplayer/scene_data/full_custom_codec_exclusions.yamldata/ssep/ex_lane_change_ec.cppdata/ssep/field_junction_ec.cppssep/keb_optimizer/parameters.hssep/keb_optimizer/optimizer_parameters.htasks/plan/keb_path_optimize_task.cppoffboard/bag_to_keb_scene/bag_to_keb_scene.ccdata/ssep/out_yard_junction_ec.cpptasks/plan/keb_utils_core.cppssep/offboard/diagnostic/optimization_identity.jsdata/ssep/seaside_junction_ec.cppssep/test/keb_parameter_unification_test.ccdata/ssep/open_space_ec.cppTesting/search_decider_lifecycle_test.cppssep/offboard/diagnostic/report.hTesting/scene_replay_foundation_test.cppalgorithm/plan/keb_optimizer.cppdata/ssep/ssep_ec.hppssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.hreplayer/scene_data/generated/plan_frame_encoder.cppoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/PLANNING_PROFILES.mdssep/common/utils/tunnel_geometry.hproto/config.protodata/ssep/reverse_ec.cppssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/ssep/normal_junction_ec.cppssep/keb_optimizer/imv_keb_optimizer.ccTesting/keb_replay_input_test.cppssep/offboard/scene_replay/replay_scene_frame_cli.ccoffboard/keb_path_opt_cli/SINGLE_FRAME.mdssep/offboard/scene_replay/CMakeLists.txtconfig/config_imv/ssep_port_scenarios_zhenshi.yamlssep/test/ssep_planner_test.ccreplayer/replayer_data_process/replayer_data_extraction.hppssep/offboard/diagnostic/report_template.htmlssep/keb_optimizer/imv_collision_model.hssep/keb_optimizer/optimizer_defaults.hreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/CMakeLists.txtreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppoffboard/bag_to_keb_scene/CMakeLists.txtdata/ssep/ssep_scenario_config.hpp853fb8ef2ab112c3633fa1c63a4ac9dd8d7623511791858041000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: rebase后配置参数的调整、冗余代码合并、通道构造全场景配置 2026-10-13 10:20:41 +0800853fb8ef2ab112c3633fa1c63a4ac9dd8d762351feat: rebase后配置参数的调整、冗余代码合并、通道构造全场景配置editdata/ssep/field_junction_ec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditdata/ssep/open_space_ec.cppeditoffboard/keb_path_opt_cli/SINGLE_FRAME.mdeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/offboard/cli/README.mdeditoffboard/bag_to_keb_scene/bag_reader.hppeditTesting/ssep_scenario_config_lifecycle_test.cppeditconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditssep/scenarios/imv_pullover_planner.heditoffboard/bag_to_keb_scene/bag_reader.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.cceditdata/ssep/ssep_scenario_config_loader.cppeditdata/ssep/into_yard_junction_ec.cppeditssep/test/keb_softmin_collision_test.cceditdata/ssep/seaside_junction_ec.cppeditTesting/CMakeLists.txteditssep/keb_optimizer/keb_problem.heditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/ssep/normal_junction_ec.cppeditTesting/scene_replay_foundation_test.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/test/ssep_planner_test.cceditdata/ssep/bridge_junction_ec.cppeditssep/keb_optimizer/imv_keb_optimizer.ccaddTesting/keb_replay_input_test.cppeditoffboard/bag_to_keb_scene/README.mdeditdata/ssep/reverse_ec.cppedittasks/plan/keb_utils_core.cppaddoffboard/keb_path_opt_cli/keb_replay_input.hppeditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/optimizer_defaults.heditssep/keb_optimizer/recorded_stage_defaults.heditdata/config/cfg_lat_plan.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditssep/offboard/diagnostic/report_template.htmleditTesting/search_decider_lifecycle_test.cppeditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_lane_follow_path_task.cppaddssep/common/utils/tunnel_geometry.heditssep/keb_optimizer/imv_collision_model.heditconfig/config_truck/ssep_port_scenarios_jinxi.yamleditdata/ssep/ssep_ec.cppeditssep/keb_optimizer/parameters.heditssep/offboard/diagnostic/optimizer_parameters.heditreplayer/scene_data/config_proto_codec.cppeditssep/offboard/diagnostic/optimization_identity.jseditssep/offboard/diagnostic/report.heditdata/ssep/ssep_scenario_config.cppeditdata/ssep/ssep_scenario_config.hppeditssep/protos/params.protoeditproto/config.protoeditssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.heditdata/ssep/reverse_ec.hppeditdata/ssep/out_yard_junction_ec.hppaddssep/test/keb_parameter_unification_test.cceditproto/keb_scene.protoeditssep/test/CMakeLists.txteditssep/keb_optimizer/configuration_yaml.heditoffboard/bag_to_keb_scene/bag_to_keb_scene.ccedittasks/plan/keb_utils_core.hppeditdata/ssep/forward_ec.cppeditreplayer/scene_data/full_custom_codec_exclusions.yamleditreplayer/scene_data/generated/plan_frame_encoder.cppeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditoffboard/bag_to_keb_scene/CMakeLists.txteditoffboard/keb_path_opt_cli/keb_single_frame_cli.cceditalgorithm/plan/keb_optimizer.hppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/offboard/cli/analysis_options.heditssep/keb_optimizer/parameters_proto_codec.heditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditdata/ssep/normal_junction_ec.hppeditssep/keb_optimizer/optimizer_parameters.heditdata/ssep/ssep_ec.hppeditssep/test/keb_normal_extension_test.cceditdata/ssep/ex_lane_change_ec.cppeditREADME.mdeditreplayer/replayer_data_process/replayer_data_extraction.hppeditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/scene_replay/replay_scene_frame_cli.cceditssep/test/parking_collision_provenance_test.cceditdata/ssep/out_yard_junction_ec.cppeditssep/keb_optimizer/configuration_fields.heditssep/test/online_merge_retention_test.ccssep/offboard/diagnostic/optimization_multimeasure.jsoffboard/keb_path_opt_cli/keb_run_options.ccssep/offboard/diagnostic/optimization_acceptance.jsssep/test/output_provenance_test.ccssep/keb_optimizer/parameters.hssep/offboard/diagnostic/optimization_provenance.jsssep/offboard/diagnostic/output_provenance.hssep/offboard/diagnostic/README.mdssep/offboard/diagnostic/optimization_diagnostics.jsssep/test/keb_softmin_collision_test.ccssep/scenarios/truck_remote_guided_escape_planner.hssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/offboard/diagnostic/kinematic_validation.hssep/test/keb_parameter_unification_test.ccssep/keb_optimizer/configuration_fields.hssep/keb_optimizer/keb_problem.ccssep/offboard/cli/README.mdssep/offboard/diagnostic/report.hssep/offboard/diagnostic/trace.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/offboard/diagnostic/optimization_overview.jsssep/scenarios/imv_multi_segment_parking_planner.hssep/keb_optimizer/control_space_refiner.ccoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/PLANNING_PROFILES.mdssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/test/acceptance_workspace_test.jsssep/keb_optimizer/imv_keb_optimizer.ccssep/test/output_provenance_test.jsssep/offboard/scene_replay/CMakeLists.txtoffboard/keb_path_opt_cli/keb_run_options.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/offboard/diagnostic/report_template.htmlssep/offboard/diagnostic/optimization.hssep/offboard/diagnostic/optimization_workspace.jsssep/scenarios/stitching_replanner.hoffboard/keb_path_opt_cli/keb_single_frame_cli.ccssep/ssep_planner.ccssep/offboard/diagnostic/optimization_plotworkspace.jsssep/scenarios/tractor_trailer_single_segment_parking_planner.h67aa198da18d78b95749de4c6dba4002f87f65cd1791957687000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo调整 KEB 参数与配置生效，完善离线回放及诊断 1. 调整牵引车 KEB 场景默认参数 2. 修复碰撞硬缓冲配置的实际生效 3. 让停车历史路径优化正确接收显式配置 4. 修复离线回放终点容差被默认值覆盖 5. 新增最终路径的来源追踪 6. 改进 HTML 优化与验收诊断 2026-10-14 14:01:27 +080067aa198da18d78b95749de4c6dba4002f87f65cd调整 KEB 参数与配置生效，完善离线回放及诊断editoffboard/keb_path_opt_cli/keb_single_frame_cli.cceditssep/offboard/diagnostic/optimization_multimeasure.jseditssep/offboard/diagnostic/report_template.htmleditssep/offboard/diagnostic/trace.heditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/test/keb_parameter_unification_test.cceditoffboard/keb_path_opt_cli/keb_run_options.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/offboard/diagnostic/optimization.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/ssep_planner.cceditssep/scenarios/stitching_replanner.haddssep/offboard/diagnostic/output_provenance.heditssep/offboard/cli/README.mdeditssep/offboard/diagnostic/optimization_acceptance.jseditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/diagnostic/kinematic_validation.heditssep/offboard/diagnostic/optimization_plotworkspace.jseditssep/offboard/diagnostic/report.heditssep/test/keb_softmin_collision_test.cceditssep/offboard/diagnostic/README.mdeditssep/keb_optimizer/parameters.heditssep/scenarios/truck_remote_guided_escape_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/offboard/diagnostic/optimization_overview.jseditssep/offboard/diagnostic/optimization_diagnostics.jseditssep/scenarios/tractor_trailer_single_segment_parking_planner.haddssep/test/acceptance_workspace_test.jseditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/configuration_fields.haddssep/test/output_provenance_test.ccaddssep/test/output_provenance_test.jseditssep/keb_optimizer/control_space_refiner.cceditssep/keb_optimizer/keb_problem.ccaddssep/offboard/diagnostic/optimization_provenance.jseditssep/offboard/diagnostic/optimization_workspace.jseditoffboard/keb_path_opt_cli/keb_run_options.cceditssep/scenarios/imv_multi_segment_parking_planner.heditoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/PLANNING_PROFILES.mdssep/keb_optimizer/scenario_optimizer_defaults.hssep/scenarios/stitching_replanner.hssep/test/keb_softmin_collision_test.ccssep/keb_optimizer/recorded_stage_defaults.hssep/keb_optimizer/keb_problem.ccssep/test/keb_parameter_unification_test.ccssep/keb_optimizer/configuration_fields.hae751fcc65bdb3eb7f44e70f22fe4e1b748141091792027982000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 1.keb固定权重细化不依赖预热调度，始终读取当前倍率 2.适配调整后的keb参数默认值 2026-10-15 09:33:02 +0800ae751fcc65bdb3eb7f44e70f22fe4e1b74814109feat: 1.keb固定权重细化不依赖预热调度，始终读取当前倍率 2.适配调整后的keb参数默认值editssep/test/keb_softmin_collision_test.cceditssep/keb_optimizer/recorded_stage_defaults.heditssep/keb_optimizer/keb_problem.cceditssep/test/keb_parameter_unification_test.cceditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/keb_optimizer/configuration_fields.heditssep/keb_optimizer/scenario_optimizer_defaults.heditssep/scenarios/stitching_replanner.hreplayer/scene_data/generated/compact_exact_numeric_visitor.cppTesting/keb_roadside_config_test.cppssep/keb_optimizer/parameters.hTesting/keb_parameters_config_test.cppssep/offboard/diagnostic/optimization_diagnostics.jsssep/test/keb_softmin_collision_test.ccssep/keb_optimizer/cost_features/softmin_disk_collision_cost.hssep/offboard/diagnostic/optimizer_parameters.hssep/test/keb_parameter_unification_test.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/configuration_fields.hssep/keb_optimizer/parameters_proto_codec.hdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppTesting/keb_roadside_footprint_test.cppssep/keb_optimizer/PLANNING_PROFILES.mdssep/protos/params.protoreplayer/scene_data/generated/compact_scene_descriptor.pbssep/test/keb_collision_weight_test.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccreplayer/scene_data/compact_numeric_policy.yamlssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccreplayer/scene_data/compact_numeric_leaf_contract.csvssep/keb_optimizer/keb_problem.hreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb39f8e722a5af1d53d54bdf136357b3235457c2a41792044221000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:1. soft-min对实际入侵的参差乘倍率 2.删除冗余的gtest测试单远 2026-10-15 14:03:41 +080039f8e722a5af1d53d54bdf136357b3235457c2a4feat:1. soft-min对实际入侵的参差乘倍率 2.删除冗余的gtest测试单远editreplayer/scene_data/generated/plan_frame_encoder.cppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/offboard/diagnostic/optimization_diagnostics.jseditreplayer/scene_data/compact_numeric_policy.yamleditssep/test/keb_softmin_collision_test.cceditssep/offboard/diagnostic/optimizer_parameters.heditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditssep/keb_optimizer/parameters.heditssep/protos/params.protoeditssep/test/keb_parameter_unification_test.cceditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditssep/keb_optimizer/PLANNING_PROFILES.mdeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditreplayer/scene_data/generated/compact_scene_descriptor.pbeditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/parameters_proto_codec.heditTesting/keb_roadside_footprint_test.cppeditTesting/keb_roadside_config_test.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditTesting/keb_parameters_config_test.cppeditssep/keb_optimizer/cost_features/softmin_disk_collision_cost.heditreplayer/scene_data/compact_numeric_leaf_contract.csveditssep/test/keb_collision_weight_test.cceditssep/keb_optimizer/configuration_fields.hssep/offboard/diagnostic/optimization_provenance.jsssep/offboard/diagnostic/optimization_workspace.jsf1a1af7f81ed9eecc27a34b4cdd2f70918c1761a1792051428000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb中的QP展示优化 2026-10-15 16:03:48 +0800f1a1af7f81ed9eecc27a34b4cdd2f70918c1761afeat: keb中的QP展示优化editssep/offboard/diagnostic/optimization_workspace.jseditssep/offboard/diagnostic/optimization_provenance.jsssep/test/keb_softmin_collision_test.ccssep/common/utils/path_utils.ccssep/keb_optimizer/scenario_optimizer_defaults.hssep/test/keb_parameter_unification_test.ccssep/common/utils/adaptive_collision_checker.hede242139c9c5b88fd60195125ea0bf085c0a1151792141154000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 调整拖挂车终检包络并提高入堆场参考线权重 - 最终碰撞校验保留有符号余量，恢复默认 -0.3 m 净距阈值 - 挂车终检取消挂接偏移，前后各缩短 1 m 并保留几何中心 - 普通入堆场两阶段参考线权重从 1 提高到 10，低贝位保持原值 - 更新包络边界、负余量及场景默认参数单测，固定头段保持不变验证：正式 CLI 分布式编译通过，相关 45 项单测通过。同等 2 m 校验的隔离版本完成 578 例回归：555 成功、23 失败，相对 3 m 基线零退化，杨浦现场原成功 415 例全部保留。 2026-10-16 16:59:14 +0800ede242139c9c5b88fd60195125ea0bf085c0a115feat: 调整拖挂车终检包络并提高入堆场参考线权重editssep/keb_optimizer/scenario_optimizer_defaults.heditssep/test/keb_parameter_unification_test.cceditssep/test/keb_softmin_collision_test.cceditssep/common/utils/adaptive_collision_checker.heditssep/common/utils/path_utils.ccdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppplan/prepare/prepare_status.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/vehicle/vehicle_destination.hppTesting/step_align_distance_source_test.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cppdata/vehicle/vehicle_destination.cppreplayer/scene_data/compact_numeric_leaf_contract.csvproto/map_data.protoplan/prepare/prepare_status.hppreplayer/scene_data/generated/plan_frame_encoder.cppTesting/CMakeLists.txtreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb9765986feb718c3dbdb57379e8120a4b455aae4d1792144466000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 统一步进对准地图选源并完善补偿与失效停车 STEP 执行期间使用地图距离计算相对进度，退出后清除步进补偿，避免精停来源切换和旧补偿污染 AA 反馈。完善地图失效及请求结束时的停车状态流转，补充回归用例与 Full/Compact 回放字段配套。验证：git diff --cached --check 通过；本次未运行编译和现场回放。 2026-10-16 17:54:26 +08009765986feb718c3dbdb57379e8120a4b455aae4dfeat: 统一步进对准地图选源并完善补偿与失效停车editreplayer/scene_data/remaining_plan_proto_codec.cppaddTesting/step_align_distance_source_test.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditplan/prepare/prepare_status.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/CMakeLists.txteditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cppeditproto/map_data.protoeditplan/prepare/prepare_status.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/vehicle/vehicle_destination.hppeditdata/vehicle/vehicle_destination.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppssep/test/CMakeLists.txtssep/test/coarse_search_stop_clearance_test.ccssep/test/keb_softmin_collision_test.ccssep/keb_optimizer/cost_features/softmin_disk_collision_cost.hssep/keb_optimizer/keb_problem.ccssep/test/keb_stop_collision_test.ccssep/test/keb_sum_collision_test.ccssep/offboard/diagnostic/collision_validation.hssep/keb_optimizer/cost_features/soft_trailer_disk_collision_cost.hssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/scenarios/tractor_trailer_general_planner.hssep/common/utils/path_utils.ccssep/offboard/scene_replay/CMakeLists.txtssep/scenarios/tractor_trailer_lane_change_planner.hssep/test/ssep_planner_test.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/test/tractor_trailer_hitch_consistency_test.ccssep/common/utils/path_utils.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/offboard/diagnostic/report_template.htmlssep/keb_optimizer/keb_problem.hssep/common/math/tractor_trailer_geometry.hssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.ccssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/diagnostic/collision_geometry.h9cd8f2d68538f1f0da08c990e4b4a25358e40b551792484046000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 补全挂车碰撞链路的铰接偏置并调整泊车搜索权重统一车头后轴到铰接点的有符号坐标变换，补全 CPU 搜索、首尾固定长度计算、 KEB 软碰撞代价和通用挂车终检中的 h 偏移，保留车头航向的自动微分导数。将单段及双向多段泊车搜索的碰撞、通道代价权重从 1.0 调整为 0.3，保持既有硬碰撞阈值和终点验收语义。同步离线碰撞几何展示，增加同位姿 h=0 对照及符号、方向、梯度测试；删除 keb_sum_collision_test.cc 及其构建引用。验证：核对同补丁 CPU 回放记录，样本整理后共 372 例规划成功；该批次未执行独立质量检查。当前示例另经完整车身扫掠检查通过。本次提交前 git diff --check 通过；测试清理后未重新编译或运行完整测试。 2026-10-20 16:14:06 +08009cd8f2d68538f1f0da08c990e4b4a25358e40b55feat: 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增加地图覆盖限时等待并调整入库搜索与碰撞查询 1. 检查 SSEP 起终点车体及前进终点余量的地图覆盖，不足时请求刷新并最多等待 3 秒，覆盖恢复或超时后放行，任务切换和重搜时重置计时。 2. 同步地图等待起点的 Full/Compact 序列化、数值编码策略及生成合同，补充跨帧恢复、超时边界和旧记录兼容测试。 3. 将挂车双向搜索的碰撞与通道软代价权重开放为参数，入库场景统一设置为 0.3，其他调用保持默认值。 4. 合并 KEB 左右侧最近障碍查询为单次树遍历，缓存固定查询半径项并移除重复索引构建。 2026-10-21 16:09:37 +0800f21a318fa6cec9f889d3ae1bd733c94f957757d6feat: 增加地图覆盖限时等待并调整入库搜索与碰撞查询editdata/plan/ssep_data.hppeditdata/ssep/ssep_ec.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditssep/keb_optimizer/cost_features/softmin_disk_collision_cost.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccadddata/ssep/map_coverage_check.hppedittasks/deciders/search_decider/search_decider_lifecycle.hppeditssep/keb_optimizer/cost_features/physical_sides.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/full_proto_custom_encoder.cppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditdata/map/envelop/map_envelops.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_numeric_policy.yamleditdata/plan/ssep_data.cppedittools/pnc_proto_mapper/generate_exact_numeric_codec.pyeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditproto/plan_data.protoeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/plan_frame_field_roles.csvAGENTS.md4a5d033c002238a9c19bfdd98abf043796ef6cf91792637481000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autodocs: 调整 GPU 测试环境为服务器优先 PNC / SSEP GPU 编译、测试和场景回放先检查服务器 SSH 连接，可连接时优先使用服务器。服务器无法连接时，检查本机环境并在满足验证要求后使用本机，记录连接失败及切换原因。保留执行前 GPU 环境检查、测试授权、凭据保护及独立工作目录要求。 2026-10-22 10:51:21 +08004a5d033c002238a9c19bfdd98abf043796ef6cf9docs: 调整 GPU 测试环境为服务器优先editAGENTS.mdreplayer/scene_data/generated/full_custom_cpp_member_inputs.json78b6293adfef6322923fc353c9863b392f0870d01792638384000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix: 数据指纹阻碍编译 2026-10-22 11:06:24 +080078b6293adfef6322923fc353c9863b392f0870d0fix: 数据指纹阻碍编译editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoncommon/zip/mini_zip.cppabc84b26ca8b95bf9bd85401b59a06b2da25be5b1792641729000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofix(zip): 避免创建条目失败时关闭未初始化指针 2026-10-22 12:02:09 +0800abc84b26ca8b95bf9bd85401b59a06b2da25be5bfix(zip): 避免创建条目失败时关闭未初始化指针editcommon/zip/mini_zip.cppssep/test/CMakeLists.txtssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/bidirectional_candidate_validation_test.ccssep/maps/ogm_builder.ccssep/test/rigid_parking_collision_test.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/test/hard_tail_straight_test.ccssep/test/truck_parking_retry_test.ccssep/test/parking_collision_provenance_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/rigid_parking_collision.hssep/scenarios/rigid_truck_parking_validation.hssep/scenarios/truck_accurate_reversing_planner.hssep/test/parking_history_collision_test.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/test/rigid_truck_parking_validation_test.ccssep/maps/ogm.ccdocs/ssep_scenario_config_lifecycle.mdssep/test/rigid_truck_tail_connection_test.ccssep/test/ssep_planner_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/maps/ogm_config_utils.ccssep/scenarios/stitching_replanner.hssep/scenarios/truck_accurate_reversing_planner.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/maps/ogm_builder.hssep/ssep_planner.ccssep/scenarios/tail_straight_distance.hssep/test/hard_tail_optimizer_test.ccb4184f729aef1c9bec8685e315b9795e9516147a1792659988000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保证刚性车停车末端直线与调整段碰撞约束沿用场景 tail_straight_distance，在搜索、KEB 优化、历史重接及最终输出中保证末端纯直线。保留终点清障来源，仅最后连续同向段允许终点障碍豁免，覆盖多段倒车和精准倒车。硬尾连接异常先经完整优化验收，失败时恢复后续搜索策略机会，并禁止匹配移动实际起点。补充碰撞、硬尾、缓存和重试测试。验证：114 项相关 C++ 测试通过；31 个原始场景回放 27 通过、4 个既有失败，无新增失败。实际后端 30 CPU、1 未确认；未做 GPU 验证。 2026-10-22 17:06:28 +0800b4184f729aef1c9bec8685e315b9795e9516147afix: 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更新魏桥停车回归验收与场景剔除记录加入 21 个魏桥多段倒车和精准倒车案例，补充末端硬直线、完整车体碰撞及运动学验收。嘉兴物化流程跳过已剔除场景，保留来源和历史决策。按用户明确选择同步移除清单与决策映射，包括方向无法独立确认的 IMV 案例及最终指定的 4 个失败案例。后 4 例已核对 SHA 并按授权删除共享回归原件和 v3 临时输入副本，保留历史报告。记录当前全量计划范围 352 例，本次仅调整范围，未重新全量回放。验证：37 项 Python 测试通过；决策映射无状态冲突，活动清单不含已剔除 SHA，来源计数一致，diff 检查通过。 2026-10-22 17:07:15 +0800bbdfc4991ca5c456539930d8d5c80e23089ab1e4test: 更新魏桥停车回归验收与场景剔除记录editssep/test/local_regression/imv_bulkout_manifest.tsvaddssep/test/local_regression/rigid_tail_review_20261022_cases.jsoneditssep/test/local_regression/materialize_imv_jiaxing_regression.pyeditssep/test/local_regression/imv_jiaxing_20261015_manifest.tsveditssep/test/local_regression/imv_jiaxing_20261015_provenance.jsoneditssep/test/local_regression/imv_jiaxing_20261015_cases.jsoneditssep/test/local_regression/selection_review_20261014_cases.jsoneditssep/test/local_regression/recorded_20261013_14_manifest.tsveditssep/test/local_regression/rigid_parking_quality.pyaddssep/test/local_regression/test_materialize_imv_jiaxing_regression.pyeditssep/test/local_regression/rigid_parking_motion_quality.pyaddssep/test/local_regression/weiqiao_rigid_parking_quality.jsonaddssep/test/local_regression/weiqiao_rigid_parking_cases.jsonaddssep/test/local_regression/test_weiqiao_rigid_parking_quality.pyaddssep/test/local_regression/imv_heading_unverified_20261022_cases.jsoneditssep/test/local_regression/imv_jiaxing_20261015_similarity_coverage.jsoneditssep/test/local_regression/rigid_parking_collision_quality.pyaddssep/test/local_regression/selection_review_20261022_cases.jsoneditssep/test/local_regression/recorded_20261013_14_cases.jsonaddssep/test/local_regression/weiqiao_rigid_parking_manifest.tsveditssep/test/local_regression/README.mdTesting/wbca_smooth_continuity_test.cpptasks/plan/path_optimization_task.hpptasks/plan/path_optimization_task.cppa2799372826ea3b7759b1cd27f94142c0bfdc3131792660479000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解除 WBCA 对 DP 截断长度的限制 DP 无完整可行解时继续保留可行前缀，WBCA 使用自身配置长度和完整边界生成路径，避免障碍导致 DP 截断后同步缩短优化路径。移除初始化时的 DP 长度上限及异步结果尾点覆盖拒绝，清理无用接口与状态参数。更新正倒车输出接纳测试，并增加版本化 Compact bag 回放验证。连续模式传递真实 WBCA 历史并调用生产路径拼接，避免遗漏历史前缀；报告完整输出逐帧结果和路径对照。验证：Icecream 分布式编译通过；33 项单元测试及济宁 AT017 bag 回放测试通过，460 帧全部求解成功。截图帧 DP 长度 18.80 m，WBCA 长度 78.50 m，参考上限保持 80 m。回放为 CPU 状态串联开环，不是车辆闭环验证。 2026-10-22 17:14:39 +0800a2799372826ea3b7759b1cd27f94142c0bfdc313fix: 解除 WBCA 对 DP 截断长度的限制editTesting/wbca_smooth_continuity_test.cppedittasks/plan/path_optimization_task.cppedittasks/plan/path_optimization_task.hppssep/coarse_search/evaluator/evaluator.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/state_hasher.h9b98dc555b8476e8bb4073d4e2f3b15d6df4022f1792662772000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 补充双向搜索近邻节点配对同桶连接未通过时，按固定间隔补查相邻桶并筛选有限候选，继续复用原有方向、阶段和路径验收。排除根节点替换及明显曲率折点，并记录近邻连接统计。 2026-10-22 17:52:52 +08009b98dc555b8476e8bb4073d4e2f3b15d6df4022ffeat: 补充双向搜索近邻节点配对editssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/state_hasher.hdata/dp_poly_path/trajectory_cost.hppproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/boundary/driving_corridor.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/dp_poly_path/trajectory_cost.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hppreplayer/scene_data/generated/config_schema_inputs.jsondocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppdata/dp_poly_path/dp_road_graph_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamldata/dp_poly_path/dp_road_graph.cppreplayer/scene_data/compact_numeric_leaf_contract.csvTesting/compact_driving_corridor_restore_test.cppdata/dp_poly_path/trajectory_cost_test.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb4e95f643b890889096f5952c32c3d002d83c68991792672666000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持边界外障碍膨胀侵入走廊后的避让新增默认关闭的边界外障碍膨胀开关，按障碍来源的安全余量更新走廊，供 DP 撒点、曲线检查、历史路径复核及边界生成使用。允许拼接起点在原始可行区域内连续恢复新增安全余量，按物理车身覆盖断面计算初始缺口，并修正倒车车身姿态及前后悬断面定位。同步 Full 字段与 Compact 重建、配置兼容及相关回归测试。验证：此前相关单元测试和场景回放共 776 项通过、13 项跳过；修改范围已使用项目 .clang-format 格式化，diff 检查通过。已知问题：路径与车身均按 1 m 采样时，仍可能漏过 0.5 m 断面的外部膨胀约束。已通过独立测试进程将步长改为默认值复现，尚未修复；现有 0.1 m 步长用例未覆盖此组合。 2026-10-22 20:37:46 +08004e95f643b890889096f5952c32c3d002d83c6899feat: 支持边界外障碍膨胀侵入走廊后的避让editreplayer/scene_data/config_proto_codec.cppeditdata/boundary/driving_corridor_test.cppeditdata/dp_poly_path/trajectory_cost.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditdata/boundary/driving_corridor.hppeditproto/plan_data.protoeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/dp_poly_path/trajectory_cost.hppeditdata/dp_poly_path/trajectory_cost_test.cppeditdata/boundary/driving_corridor.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditdata/dp_poly_path/dp_road_graph_test.cppeditdata/config/cfg_func_sw.hppeditdata/dp_poly_path/dp_road_graph.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/config/cfg_func_sw.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/compact_driving_corridor_restore_test.cppeditproto/config.protoeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/lat_decider/path_bounds_decider.cppdocs/side_pass_function.mdTesting/path_bounds_reference_test.cpptasks/deciders/lat_decider/path_bounds_decider.hpp653fea95b136616c731002d7b125c5fa30d83b0d1792672676000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为启用外部障碍避让的前向参考预留一厘米余量将前向参考限制在车身中心可行边界内并尽量预留两侧各 0.01 m，不足 0.02 m 的区间取中点，不扩大硬边界或覆盖统一拼接起点。关闭开关时保持原有参考行为，补充窄区间及开关回归测试和使用说明。 PJPO 保持原有求解及历史路径、引导线兜底链路，参考余量不构成最终车身净距保证。相关单元测试和场景回放已验证。 2026-10-22 20:37:56 +0800653fea95b136616c731002d7b125c5fa30d83b0dfix: 为启用外部障碍避让的前向参考预留一厘米余量edittasks/deciders/lat_decider/path_bounds_decider.cppeditTesting/path_bounds_reference_test.cppedittasks/deciders/lat_decider/path_bounds_decider.hppeditdocs/side_pass_function.mdssep/keb_optimizer/cost_features/cached_softmin_collision_cost.hssep/test/keb_softmin_collision_test.ccssep/keb_optimizer/cost_features/softmin_disk_collision_cost.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/keb_optimizer/keb_problem.cc218c9fa35347c8a1220078006ee4ae0dfac1e0181792672691000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化碰撞代价求值并收紧近邻连接 1. 复用完全相同状态的障碍查询结果，保留距离、残差和导数的重新计算。 2. 按碰撞几何实际依赖将自动微分缩减为普通车3维、挂车4维，并由functor内部车型决定。 3. 仅对近邻连接增加铰接角差检查和拒绝诊断，保持同桶连接行为不变。 4. 增加原8维与缩减维度残差及Jacobian等价性测试，覆盖OGM和PhysicalSides。 2026-10-22 20:38:11 +0800218c9fa35347c8a1220078006ee4ae0dfac1e018feat: 优化碰撞代价求值并收紧近邻连接editssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccaddssep/keb_optimizer/cost_features/cached_softmin_collision_cost.heditssep/test/keb_softmin_collision_test.cceditssep/keb_optimizer/cost_features/softmin_disk_collision_cost.heditssep/keb_optimizer/keb_problem.ccreplayer/scene_data/generated/plan_frame_encoder.cpp756f4d60a73b642b22f6860ec7b969b24dfdf8701792673787000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复 Proto 编码器生成文件以通过构建门禁通过 Taskfile 的统一生成流程恢复 plan_frame_encoder.cpp 的规范输出。此前对生成文件执行 clang-format 拆分了 Schema 哈希字符串，导致生成器逐字检查判定文件过期；本次不改变哈希内容、字段或编码逻辑。验证：check-generated 和 check-proto-breaking 共 49 项检查全部通过， git diff --check 通过。生成源码保持生成器原样，不再单独格式化。 2026-10-22 20:56:27 +0800756f4d60a73b642b22f6860ec7b969b24dfdf870fix: 恢复 Proto 编码器生成文件以通过构建门禁editreplayer/scene_data/generated/plan_frame_encoder.cpptasks/deciders/lat_decider/switching_bounds_decider.cpptasks/deciders/lat_decider/switching_bounds_decider.hppTesting/CMakeLists.txtTesting/switching_bounds_decider_test.cpp90123b1a2f185075589e87b268b85c49ba7d55d81792678470000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正变道物理边界与目标参考线按同一目标截面求源车道边界交点，合并源目标物理走廊并统一扣除车身尺寸，移除人为窄边界及动力学外扩；横向参考收敛到选中的地图参考线。处理局部线端部不外推及累计里程浮点舍入越界，补充左右变道、参考线偏移、非平行、渐变宽度、圆弧和端部精度回归测试。验证：分布式编译通过，相关单测 17/17 通过；现场 57 个变道帧的边界及 PJPO 任务成功。完整规划回放仍存在轨迹缺失，不作为整链通过结论。 2026-10-22 22:14:30 +080090123b1a2f185075589e87b268b85c49ba7d55d8fix: 修正变道物理边界与目标参考线edittasks/deciders/lat_decider/switching_bounds_decider.cppeditTesting/CMakeLists.txtaddTesting/switching_bounds_decider_test.cppedittasks/deciders/lat_decider/switching_bounds_decider.hppTesting/lane_change_prepare_stage_test.cppreplayer/replayer_data_process/replayer_data_process.cppreplayer/algorithm_replay/production_variant_runner.cppscenarios/scenario_supervise.cppscenarios/scenario_supervise.hpp196b50e9903800862595aeb1f9f157331c5c59c51792678480000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复变道场景回放初始化与主参考线重建增加独立回放初始化入口，允许 Compact 仅携带当前场景配置，不再依赖 NORMAL_FOLLOW 配置，并覆盖缺失场景及旧配置清理。变道执行阶段按目标参考线索引重建主原始参考线，保持线上主候选职责。验证：回放初始化单测通过，原始场景 70 帧解码导出无 gaps；完整轨迹验收仍未通过，未将导出成功等同完整规划成功。 2026-10-22 22:14:40 +0800196b50e9903800862595aeb1f9f157331c5c59c5fix: 修复变道场景回放初始化与主参考线重建editTesting/lane_change_prepare_stage_test.cppeditscenarios/scenario_supervise.hppeditreplayer/algorithm_replay/production_variant_runner.cppeditscenarios/scenario_supervise.cppeditreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/PLANNING_PROFILES.mdssep/keb_optimizer/scenario_optimizer_defaults.hssep/test/keb_parameter_unification_test.cc609ac8805131c5aeb7ecd2184cbd8982f298faa01792721126000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: tune trailer yard entry optimizer weights 2026-10-23 10:05:26 +0800609ac8805131c5aeb7ecd2184cbd8982f298faa0feat: tune trailer yard entry optimizer weightseditssep/keb_optimizer/scenario_optimizer_defaults.heditssep/test/keb_parameter_unification_test.cceditssep/keb_optimizer/PLANNING_PROFILES.mddata/dp_poly_path/dp_road_graph.cppdata/dp_poly_path/dp_road_graph_test.cppf9102a9988d7540627efb09845941bc8f96afc551792724028000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免 DP 历史覆盖尾点累积为密集采样层继承历史采样时移除临时覆盖终点并按当前走廊重建，保留稳定内部采样锚点。补充连续推进、走廊缩短、单尾点和方向切换回归。 2026-10-23 10:53:48 +0800f9102a9988d7540627efb09845941bc8f96afc55fix: 避免 DP 历史覆盖尾点累积为密集采样层editdata/dp_poly_path/dp_road_graph.cppeditdata/dp_poly_path/dp_road_graph_test.cppreplayer/analysis_server/analysis_server_app.cppCMakeLists.txtTesting/analysis_server_app_test.cppf528907502c8642dcb18a0fcc88b71a8bc3a35361792724034000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 使用实际编译版本标识场景回放候选结果将执行程序的 commit 和版本与归档兼容配置分开，避免报告把录制版本误标为当前候选版本。补充回归报告身份检查。 2026-10-23 10:53:54 +0800f528907502c8642dcb18a0fcc88b71a8bc3a3536fix: 使用实际编译版本标识场景回放候选结果editreplayer/analysis_server/analysis_server_app.cppeditCMakeLists.txteditTesting/analysis_server_app_test.cppTesting/report_artifact_bundle_test.cppreplayer/algorithm_replay/profile_collectors.cppreplayer/algorithm_replay/report_artifact_bundle.cppTesting/profile_collectors_test.cppreplayer/algorithm_replay/report_artifact_bundle.hppb7c20014fa15817d9e22014ce8fdcf4a31a5658d1792724045000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 补齐 DP 采样指标与逐帧回放报告采集采样层数、位置、间距和有序性，区分稳定内部间距与临时末端覆盖。输出完整逐帧实际值、期望值和状态的 JSON 及离线 HTML，保留失败、缺失和非有限值证据，并补充相关测试。 2026-10-23 10:54:05 +0800b7c20014fa15817d9e22014ce8fdcf4a31a5658dfeat: 补齐 DP 采样指标与逐帧回放报告editTesting/profile_collectors_test.cppeditTesting/report_artifact_bundle_test.cppeditreplayer/algorithm_replay/report_artifact_bundle.hppeditreplayer/algorithm_replay/profile_collectors.cppeditreplayer/algorithm_replay/report_artifact_bundle.cppscenarios/bulkload_scenario/bulkload_scenario.cpptasks/other_tasks/create_guide_line.hppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/bulkload_scenario/bulkload_scenario.hppTesting/compact_driving_corridor_restore_test.cppTesting/reference_line_replan_test.cpptasks/other_tasks/create_guide_line.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppd55adfbdde1124f42ff068042a1af809b67088681792730486000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐散货搜索交接帧的几何与轨迹规划交接时恢复并重投影历史引导线及参考线，避免搜索等待沿用空几何。仅在 MOVE_FORWARD 的 PARK_ADJUST/TRAVEL_OUT 交接中同帧执行 SSEP_FORWARD，保留正常任务链和统一规划起点。初始化搜索前进阶段 next_stage，避免正常等待误结束场景。补充历史失效、同帧调度、失败传播和有界跳转回归。验证：阶段/引导线单测及 97 帧真实几何回归。完整轨迹连续性回放受缺失 Motion FSM 启动历史限制，未完成验收。 2026-10-23 12:41:26 +0800d55adfbdde1124f42ff068042a1af809b6708868fix: 补齐散货搜索交接帧的几何与轨迹规划editTesting/compact_driving_corridor_restore_test.cppeditscenarios/bulkload_scenario/bulkload_scenario.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditTesting/reference_line_replan_test.cppedittasks/other_tasks/create_guide_line.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppedittasks/other_tasks/create_guide_line.hppeditscenarios/bulkload_scenario/bulkload_scenario.hppreplayer/algorithm_replay/profile_collectors.cppTesting/profile_collectors_test.cppc5323f6364cdffe1a5d47883d9586be234a31ed91792730496000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 补充引导线和参考线回放诊断指标分别采集有效标志、几何可用性、引导线点数、长度和匹配状态，避免仅凭 valid 标志判断规划几何完整。增加有效标志为真但几何为空的回归检查。验证：ProfileCollectorsTest 全部 7 项通过。 2026-10-23 12:41:36 +0800c5323f6364cdffe1a5d47883d9586be234a31ed9feat: 补充引导线和参考线回放诊断指标editreplayer/algorithm_replay/profile_collectors.cppeditTesting/profile_collectors_test.cpptools/pnc_proto_mapper/generator.pyCMakeLists.txtbf30260fb6aebd263035e1ed177e0bcdb4ae68071792730963000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 Proto 生成检查与构建工具链的编译器 CMake 将已配置的 Protobuf_PROTOC_EXECUTABLE 显式传给生成脚本，避免 PATH 中旧版 protoc 拒绝 proto3 optional。使用原始 pnc-build.sh 命令验证 pnc_node 编译链接通过，生成描述符指纹保持不变。 2026-10-23 12:49:23 +0800bf30260fb6aebd263035e1ed177e0bcdb4ae6807fix: 统一 Proto 生成检查与构建工具链的编译器editCMakeLists.txtedittools/pnc_proto_mapper/generator.pydata/constrain/block_data.cppTesting/crane_lane_policy_test.cppdata/plan/switch_data.cpp0eab5b1feaca3a3e0e5f55a82afece5a774693c61792735745000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复变道场桥校验的挂车后向距离将变道准入及执行阶段的挂车尾长自减改为铰接点偏移减挂车尾长，恢复车尾后方安全范围并纠正反向场桥分类边界。新增挂车有效与失效、前后距离边界及执行阶段动态场桥分类回归；分布式编译通过，场桥专项 49 项测试全部通过。 2026-10-23 14:09:05 +08000eab5b1feaca3a3e0e5f55a82afece5a774693c6fix: 修复变道场桥校验的挂车后向距离editTesting/crane_lane_policy_test.cppeditdata/plan/switch_data.cppeditdata/constrain/block_data.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/CMakeLists.txtssep/offboard/diagnostic/optimization_acceptance.jsssep/offboard/diagnostic/optimization_provenance.jsssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/keb_optimizer/cost_features/swept_collision_cost.hssep/keb_optimizer/keb_problem.ccssep/offboard/diagnostic/report.hssep/scenarios/imv_enter_station_planner.hssep/offboard/diagnostic/trace.hssep/offboard/diagnostic/optimization_sweeprepair.jsssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/test/swept_collision_repair_test.ccssep/keb_optimizer/cost_features/swept_obstacle_index.hssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/scenario_planner_interface.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/forward_clearance_check.hssep/scenarios/tractor_trailer_parking_collision.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/test/output_provenance_test.jsssep/offboard/scene_replay/CMakeLists.txtssep/scenarios/sweep_collision_failure.hssep/test/forward_clearance_check_test.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/offboard/diagnostic/report_template.htmlssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/ssep_planner.ccssep/common/replay_phase_timer.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hd6d53ced338e4e0429ee38a5652f8d6a01a6854e1792743858000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: add swept collision repair and optimization diagnostics Preserve failed candidates for one fixed-weight swept-collision repair across vehicle optimizers, reuse obstacle queries, and expose per-solve validation and capsule layers in offline reports. Validation: CPU serial replay of all 614 original site cases passed without parameter overrides or HTML collection; four swept-collision cases repaired successfully. Focused collision and diagnostic regressions passed. 2026-10-23 16:24:18 +0800d6d53ced338e4e0429ee38a5652f8d6a01a6854efeat: add swept collision repair and optimization diagnosticseditssep/offboard/diagnostic/report_template.htmladdssep/keb_optimizer/cost_features/swept_obstacle_index.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/test/forward_clearance_check_test.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/keb_optimizer/keb_problem.cceditssep/offboard/diagnostic/optimization_acceptance.jseditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/imv_keb_optimizer.haddssep/scenarios/sweep_collision_failure.haddssep/offboard/diagnostic/optimization_sweeprepair.jseditssep/ssep_planner.cceditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.haddssep/common/replay_phase_timer.heditssep/scenarios/scenario_planner_interface.heditssep/test/CMakeLists.txteditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditssep/scenarios/forward_clearance_check.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/test/output_provenance_test.jseditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_parking_collision.heditssep/offboard/diagnostic/optimization_provenance.jseditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/keb_optimizer/cost_features/swept_collision_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccaddssep/test/swept_collision_repair_test.cceditssep/keb_optimizer/keb_problem.heditssep/offboard/diagnostic/report.heditssep/offboard/scene_replay/CMakeLists.txteditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/offboard/diagnostic/trace.heditssep/scenarios/imv_enter_station_planner.hssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/test/keb_normal_extension_test.ccssep/keb_optimizer/keb_problem.ccf0c48f04611cd9b7b5916250710db623198f1cc81792990985000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正 IMV KEB 方向编码与换向约束将外部到达方向转换为 KEB 边的出发方向，并在输出时恢复到达方向。解析未知起点方向，兼容重复点和热启动；按方向编码选择长度代价权重，避免换向边误用前进或倒车权重。换向点同步启用严格轮角约束。补充方向、换向、未知首点和长度权重回归；52 项相关 KEB 测试通过。跨场景回归发现普通卡车精准倒车同输入历史通过、本轮运动学验收失败，根因尚未隔离；不能将本次提交视为全量回归通过。 2026-10-26 13:03:05 +0800f0c48f04611cd9b7b5916250710db623198f1cc8fix: 修正 IMV KEB 方向编码与换向约束editssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/test/keb_normal_extension_test.ccTesting/ssep_path_corridor_test.cppssep/test/local_regression/test_scene_vis_geometry.pyssep/scenarios/imv_search_extra_params.hssep/test/local_regression/README.mdssep/offboard/ssep_planner_wrapper.ccdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/test/coarse_search_stop_clearance_test.ccssep/test/local_regression/render_regression_report.pydocs/ssep/imv_enter_station_parking_boundary.mdssep/coarse_search/evaluator/diagonal_cost_computer.hssep/coarse_search/evaluator/soft_parking_cost_computer.hssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_enter_station_planner.hssep/test/imv_enter_station_candidate_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/coarse_search/motion_primitive_sampler/imv_linear_connection_sampler.hssep/test/scene_replay_obstacle_inputs_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/test/local_regression/test_render_terminal_entrance.pydata/ssep/ssep_ec.cppdata/ssep/ssep_activation.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/offboard/scene_replay/README.md6403150947f852832f92cfc550d445ade5fabbac1792991011000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 IMV 入位物理姿态并完善搜索和车位验收起终姿态统一使用物理车头航向，保留起始操作模式；末端进入方向由 final_direction 独立约束。同步在线输入、离线回放及入口可视化。粗搜索使用车位软代价与斜行连接提案，修正倒车及旋转斜行代价和方向哈希、启发式选择。配置权重的双向策略优先取得搜索预算，终点候选在队列中完成 KEB 与硬碰撞验收，拒绝后继续搜索，超时保留已验收结果。 KEB 保持完整车宽；支持仅针对车位边界的侧向内缩参数，默认零内缩。地图并集保持原栅格坐标，真实障碍与人工边界继续硬校验。补充候选、碰撞、地图对齐、上游姿态及可视化回归。三个入位场景通过 CPU 回放及 2 cm 扫掠、轮角和端点验收。针对性 CPU 18 例：正式通过 10、失败 2、待业务验收 6（基础成功）；真实 GPU 2 例：通过 1、失败 1。TT 段数规则仍失败，普通卡车存在历史通过而本轮失败的行为退化，均保留证据，未放宽验收条件。报告批次：targeted_imv_keb_20261026_104510。 2026-10-26 13:03:31 +08006403150947f852832f92cfc550d445ade5fabbacfix: 统一 IMV 入位物理姿态并完善搜索和车位验收editssep/test/imv_enter_station_candidate_test.cceditssep/coarse_search/evaluator/diagonal_cost_computer.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/offboard/servers/scene_vis_html_template.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditdata/ssep/ssep_ec.cppadddocs/ssep/imv_enter_station_parking_boundary.mdeditssep/offboard/scene_replay/README.mdeditdata/ssep/ssep_activation.cppaddssep/coarse_search/motion_primitive_sampler/imv_linear_connection_sampler.heditssep/test/local_regression/test_scene_vis_geometry.pyeditssep/test/local_regression/README.mdeditssep/test/scene_replay_obstacle_inputs_test.cceditTesting/ssep_path_corridor_test.cppeditdata/ssep/forward_ec.cppeditssep/test/coarse_search_stop_clearance_test.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/imv_search_extra_params.heditssep/test/local_regression/test_render_terminal_entrance.pyeditssep/scenarios/imv_enter_station_planner.haddssep/coarse_search/evaluator/soft_parking_cost_computer.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.heditssep/test/local_regression/render_regression_report.pyTesting/search_decider_lifecycle_test.cppdata/plan/ssep_task_context.cppdocs/ssep_search_lifecycle.md4e9fe178f7744815431fd4e3fd1bf00a9abb978f1792994229000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 任务交接误重搜并保留专门重规划入口成功接收同一任务和命令的 routing 后，不再因历史申请标志拒绝复用。路口按实际连接及弯后目标车道复用，目的地坐标变化不单独使搜索失效；极限变道保留目的地校验。保留进堆场 TYPE_DEST 专门重搜，补交接、持续帧及 3 米阈值回归，整理搜索生命周期文档。验证：reference_line_replan_test 442 项通过、101 项跳过、0 失败。现场 bag 因 Compact 缺历史路口 ID，未完成端到端复用验收。 2026-10-26 13:57:09 +08004e9fe178f7744815431fd4e3fd1bf00a9abb978ffix: 修复 SSEP 任务交接误重搜并保留专门重规划入口editTesting/search_decider_lifecycle_test.cppeditdata/plan/ssep_task_context.cppeditdocs/ssep_search_lifecycle.mdhmi/draw/draw_ego.cppdf72fac8d832bef81bb9d54f46f56e2028f264981792994252000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为旧版 IMV 回放显示物理朝向标记将朝向标记绘制范围扩展到全部 IMV，避免旧 Proto 丢失双向子类型后标记消失。继续使用录制的 reversing_mode 判断朝向。 2026-10-26 13:57:32 +0800df72fac8d832bef81bb9d54f46f56e2028f26498fix: 为旧版 IMV 回放显示物理朝向标记edithmi/draw/draw_ego.cpphmi/draw/draw_map.cpp449edb89ee11abf53757689beb27c9c2a04a0e231792994252000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 以轮廓显示邻近卸载挂车去除邻近卸载挂车的实心填充，保留坐标转换和轮廓描边。 2026-10-26 13:57:32 +0800449edb89ee11abf53757689beb27c9c2a04a0e23fix: 以轮廓显示邻近卸载挂车edithmi/draw/draw_map.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamldocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdTesting/scene_replay_foundation_test.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbe793a14fbb197d1d45873af9533e4a7485593e671792994275000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 在回放 Proto 中保留 IMV 精确车型子类型新增带 presence 的 vehicle_subtype 字段，保留旧 vehicle_type 的粗车型语义。恢复普通及双向 IMV 子类型，拒绝未知或冲突输入，缺字段时沿用旧版本行为。补充 Full、Compact Recorded/Candidate 和旧读端兼容测试，同步描述符、字段策略及 codec 审计生成物。验证：生成一致性和 Proto breaking 检查通过。 ConfigProtoCodecTest：27 项通过、0 失败。 2026-10-26 13:57:55 +0800e793a14fbb197d1d45873af9533e4a7485593e67fix: 在回放 Proto 中保留 IMV 精确车型子类型editreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditproto/config.protoeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_path_corridor_test.cppdata/other/flow_control.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_util.cppTesting/low_bay_replan_gate_test.cppTesting/CMakeLists.txtdocs/ssep_search_lifecycle.md956b9b0aa1f57ba8278e2df0dbf6027a2f82dd041793004245000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复低贝位场桥误判及出口重搜截止以出口后实际通道与场桥实体框相交判定低贝位，避免缓存 SL 和 U 弯跨支路投影误触发。使用当前车辆投影与出口停止线判定截止，并在参考线生成前使用本帧已选地图路径。补充几何、出口截止和 U 弯重搜测试，修正通道过滤日志并整理搜索逻辑。验证：相关 26 项测试通过；clang-format 21.1.8 与 diff 检查通过。尚未覆盖整段 bag 连续回放及真实多段地图重建。 2026-10-26 16:44:05 +0800956b9b0aa1f57ba8278e2df0dbf6027a2f82dd04fix: 修复低贝位场桥误判及出口重搜截止editdata/other/flow_control.cppeditTesting/CMakeLists.txteditTesting/ssep_path_corridor_test.cppeditdocs/ssep_search_lifecycle.mdaddTesting/low_bay_replan_gate_test.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/ssep_util.cppssep/scenarios/tractor_trailer_short_distance_planner.hdocs/ssep_search_lifecycle.md4e5e5eeb162b62bf1f3410716dddc2b792bf7ae01793004253000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高短距离入场优化约束以修复重搜失败将短距离规划器运动学和动态约束权重对齐进场精优化的 1e6，减少新窄通道下首段横移造成的运动学验收失败。保留原有碰撞、运动学校验及首次 LOW_BAY 历史初值策略，并记录问题和修复依据。验证：CPU 回放现场 3 次失败输入均成功，普通进场对照成功，实体阻挡案例正确拒绝，共 5 项验收通过；未进行 GPU 验证。 2026-10-26 16:44:13 +08004e5e5eeb162b62bf1f3410716dddc2b792bf7ae0fix: 提高短距离入场优化约束以修复重搜失败editdocs/ssep_search_lifecycle.mdeditssep/scenarios/tractor_trailer_short_distance_planner.hdata/ssep/ex_lane_change_ec.cppTesting/search_decider_lifecycle_test.cpp4495cd25e56cfe13a49d8e5d91219e0cb324f1901793005438000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 延长场桥变道搜索约束的前后范围仅对场桥将两路障碍纵向约束前后分别由 1 m 增至 2 m、0.5 m 增至 1.5 m。保留原始 SL 诊断数据、障碍筛选和其他类型的约束余量。验证：生产构造测试覆盖左右方向、曲率开关、类型对照和参考线末端；真实 CPU 场景重搜完成。 2026-10-26 17:03:58 +08004495cd25e56cfe13a49d8e5d91219e0cb324f190fix: 延长场桥变道搜索约束的前后范围editdata/ssep/ex_lane_change_ec.cppeditTesting/search_decider_lifecycle_test.cppTesting/search_decider_lifecycle_test.cppdata/plan/switch_data.cpp43705c5739161f575c10650a25aa7c904dc64bd11793005451000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限定堆场变道场桥使用原始障碍框校验在堆场多车道及直进、直出堆场多车道前置段，场桥在变道安全校验中取消额外障碍框膨胀。静态和动态分支保持一致，自车、其他障碍及其他区域的膨胀保持不变。验证：四项搜索构造及碰撞回归通过，覆盖六类区域和静动态分支。正式 CPU 复验中，T728 两帧障碍检查通过，截图帧完整安全检查通过。场景采用本机搜索配置和默认环境参数，属于独立帧验证。 2026-10-26 17:04:11 +080043705c5739161f575c10650a25aa7c904dc64bd1fix: 限定堆场变道场桥使用原始障碍框校验editdata/plan/switch_data.cppeditTesting/search_decider_lifecycle_test.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppreplayer/scene_data/generated/config_schema_inputs.jsonsink/ros_sink_chassis_ctrl.hppreplayer/scene_data/generated/plan_frame_encoder.cppsink/ros_sink_chassis_ctrl.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/pnc_scene/compact_plan_frame_fields.protoproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/compact_numeric_policy.yamlreplayer/scene_data/generated/plan_frame_member_inputs.jsontools/pnc_proto_mapper/generator.pyreplayer/scene_data/plan_frame_full_mapping.yamldata/plan_frame.hpptasks/deciders/other_decider/alarm_decider.hppreplayer/scene_data/plan_frame_field_roles.csvproto/pnc_scene/full_plan_frame.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbdata/plan_frame.cppTesting/CMakeLists.txttasks/deciders/other_decider/alarm_decider.cppreplayer/scene_data/generated/plan_frame_descriptor.pb1f36e891812dd5cb5f2f81c262fa4f3c19e685091793007756000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 前车倒退预警功能 2026-10-26 17:42:36 +08001f36e891812dd5cb5f2f81c262fa4f3c19e68509feat: 前车倒退预警功能editreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdata/plan_frame.hppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppedittasks/deciders/other_decider/alarm_decider.cppeditdata/plan_frame.cppeditsink/ros_sink_chassis_ctrl.cppedittasks/deciders/other_decider/alarm_decider.hppeditreplayer/scene_data/generated/plan_frame_decoder.cppeditproto/config.protoeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditsink/ros_sink_chassis_ctrl.hppeditdata/config/cfg_func_sw.hppeditreplayer/scene_data/generated/plan_frame_member_inputs.jsonaddTesting/front_vehicle_reverse_alarm_test.cppeditreplayer/scene_data/plan_frame_field_roles.csvedittools/pnc_proto_mapper/generator.pyeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/compact_typed_field_codec.cppeditdata/config/cfg_func_sw.cppeditreplayer/scene_data/compact_numeric_policy.yamleditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/plan_frame_full_mapping.yamleditproto/pnc_scene/full_plan_frame.protoeditTesting/CMakeLists.txtreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsondata/obstacle/decision/obstacle_decision_test.cppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/obstacle/decision/obstacle_decision.hppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdreplayer/scene_data/compact_numeric_leaf_contract.csvdata/obstacle/decision/obstacle_decision.cppreplayer/scene_data/obstacle_proto_codec.cppTesting/scene_replay_foundation_test.cppdata/obstacle/obstacle_decider_attr.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/plan_frame_field_roles.csvdata/obstacle/obstacle_decider_attr.hppreplayer/scene_data/generated/scene_replay_api_descriptor.pbproto/obstacle.prototools/pnc_proto_mapper/generate_exact_numeric_codec.pyreplayer/scene_data/generated/plan_frame_descriptor.pb575f84c73cba6f4cc2f8721bd7fd6009b64aca1c1793019964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按时间窗口确认障碍物静止状态使用固定 1.5 秒速度窗口和连续 1 秒静止确认，不新增配置参数。重复帧不累积，观测中断保留同一目标的已确认运动防护，身份变化清空证据。保存 Full、Compact 和 Candidate 跨帧计时状态，补充精度、旧数据默认行为与动静切换回归测试。 2026-10-26 21:06:04 +0800575f84c73cba6f4cc2f8721bd7fd6009b64aca1cfix: 按时间窗口确认障碍物静止状态editdata/obstacle/obstacle_decider_attr.hppeditdata/obstacle/decision/obstacle_decision_test.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/obstacle_proto_codec.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditproto/obstacle.protoeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/obstacle/decision/obstacle_decision.cppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/plan_frame_encoder.cppedittools/pnc_proto_mapper/generate_exact_numeric_codec.pyeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/obstacle/obstacle_decider_attr.cppeditreplayer/scene_data/plan_frame_field_roles.csveditdata/obstacle/decision/obstacle_decision.hppeditreplayer/scene_data/generated/compact_scene_descriptor.pbhmi/common/pnc_graphics_view.cpphmi/common/obstacle_details.hppTesting/obstacle_detail_render_test.cppda047adcda57d76b0ffc780da76c838433df7b1d1793019964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 显示障碍物静止确认和跟车等待秒数展示静止确认进度、跟车等待时长及现有超时阈值，明确旧快照缺失计时状态的显示。 2026-10-26 21:06:04 +0800da047adcda57d76b0ffc780da76c838433df7b1dfeat: 显示障碍物静止确认和跟车等待秒数edithmi/common/pnc_graphics_view.cppeditTesting/obstacle_detail_render_test.cppedithmi/common/obstacle_details.hppTesting/compact_driving_corridor_restore_test.cpp91e36e87767b87a45ac3a968281a5973f7ac30381793019964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加静止计时连续回放验收使用独立期望窗口校验等待开始期限、计时起点和逐帧计数，拒绝缺帧、计时重置及冻结。覆盖跨验收窗口起点的大缺口。验证汇总：808 项通过、12 项可选测试跳过；现场 bag 的 569 条快照验收通过。 2026-10-26 21:06:04 +080091e36e87767b87a45ac3a968281a5973f7ac3038test: 增加静止计时连续回放验收editTesting/compact_driving_corridor_restore_test.cppdata/vehicle/request_routing_data.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontasks/deciders/lat_decider/side_pass_decider.cppCMakeLists.txthmi/replayer_hmi.cpphmi/widget/diagnose.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdplan/scenarios/prepare_scenario.cppplan/prepare/prepare_spreader.cppplan/prepare/prepare_objs.cppcore/decision_async.cppdata/map/envelop/map_envelops.cppplan/prepare/prepare_map_related.cppplan/prepare/module.cppreplayer/scene_data/generated/compact_scene_descriptor.pbplan/prepare/prepare_ogm.cppproto/pnc_scene/compact_plan_frame_fields.protohmi/common/plan_timing_history.hppproto/debug.protoreplayer/scene_data/plan_timing_proto_codec.hpptasks/deciders/long_decider/constrain_decider.cppplan/prepare/prepare_lock_station.cppTesting/encoding_benchmark_test.cppreplayer/scene_data/compact_numeric_policy.yamlproto/pnc_scene/compact_recorded_debug.protoTesting/plan_timing_render_test.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cppplan/prepare/prepare_destination.cppreplayer/scene_data/encoding_benchmark.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_full_mapping.yamldata/plan_timing.hppcore/node_runtime_timing.hppdata/plan_frame.hppdata/map/reference/center_line.cppproto/pnc_scene/full_plan_frame.protohmi/widget/perf_cost_detail.cppreplayer/scene_data/compact_proto_codec.cppcore/plan_runtime_watchdog.hppreplayer/scene_data/generated/compact_exact_numeric_visitor.cppplan/prepare/prepare_default.cppreplayer/scene_data/generated/plan_frame_decoder.cppplan/prepare/prepare_offset.cpptasks/deciders/other_decider/stop_decider.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppreplayer/scene_data/plan_timing_proto_codec.cppsink/ros_sink_snapshot_compact_scene.cppnode/logic.cppTesting/scene_replay_foundation_test.cppplan/prepare/prepare_his.cpphmi/widget/diagnose.hppTesting/plan_timing_capture_test.cppplan/prepare/prepare_priori_bay_info.cppreplayer/scene_data/generated/plan_frame_encoder.cppcore/hmi_sync.cppdata/plan/center_line_info.cppreplayer/scene_data/generated/plan_frame_field_roles.jsoncore/plan_async.cppdata/plan/switch_data.cppreplayer/scene_data/generated/compact_typed_field_codec.cppscenarios/stage.cppplan/prepare/prepare_state.cppreplayer/scene_data/generated/plan_frame_member_inputs.jsontools/pnc_proto_mapper/generator.pydata/obstacle/decision/obstacle_decision.cppplan/prepare/prepare_lane_constrain.cpphmi/widget/perf_cost_detail.hppreplayer/scene_data/plan_frame_field_roles.csvcore/snapshot_async.cppdata/plan_frame.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/CMakeLists.txtreplayer/scene_data/generated/plan_frame_descriptor.pbhmi/node_hmi.cppede65270ab0adee7356660caa2606072bc923d9e1793022823000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 紧凑记录 PNC 节点模块耗时并复用原界面按固定编号记录单帧模块与任务耗时，使用执行位图和 0.1 ms 整数编码，替换 Proto 中重复保存的 50 帧历史及字符串耗时。异步模块携带独立来源帧和完成时间，watchdog 记录当前执行项；Boost 字段保持不增不删。原 HMI 本地维护历史平均并展示模块明细，区分实时与录制数据。规划帧超过 1 秒未更新时保留业务绘制保护，继续刷新实时耗时窗口。验证：生成与合同检查通过；Icecream 分布式编译 pnc_node、replayer 及测试通过；测试汇总 825 项通过、12 项可选跳过。合成的 30 项模块与任务统计加 watchdog、5 个异步槽及 Proto 嵌套开销共 167 字节。 2026-10-26 21:53:43 +0800ede65270ab0adee7356660caa2606072bc923d9efeat: 紧凑记录 PNC 节点模块耗时并复用原界面editdata/map/reference/center_line.cppeditplan/prepare/prepare_ogm.cppeditcore/hmi_sync.cppeditscenarios/stage.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditreplayer/scene_data/generated/compact_typed_field_codec.cppeditdata/plan/switch_data.cppedittasks/deciders/long_decider/constrain_decider.cppeditcore/plan_runtime_watchdog.hppeditplan/prepare/prepare_destination.cppeditTesting/scene_replay_foundation_test.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdedithmi/node_hmi.cppeditdata/plan_frame.cppeditplan/prepare/prepare_lock_station.cppaddTesting/plan_timing_render_test.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditproto/debug.protoaddreplayer/scene_data/plan_timing_proto_codec.hppeditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/encoding_benchmark.cppeditdata/vehicle/request_routing_data.cppeditreplayer/scene_data/compact_proto_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppaddhmi/common/plan_timing_history.hppeditreplayer/scene_data/generated/plan_frame_decoder.cppeditTesting/encoding_benchmark_test.cppeditsink/ros_sink_snapshot_compact_scene.cppeditplan/prepare/prepare_lane_constrain.cppeditplan/prepare/prepare_objs.cppedithmi/widget/diagnose.cppeditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/generated/plan_frame_member_inputs.jsonedithmi/widget/diagnose.hppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbedittasks/deciders/other_decider/stop_decider.cppeditcore/decision_async.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_field_roles.jsonedithmi/widget/perf_cost_detail.cppeditCMakeLists.txtedittools/pnc_proto_mapper/generator.pyeditplan/prepare/prepare_state.cppeditdata/plan/center_line_info.cppeditplan/prepare/module.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/compact_numeric_policy.yamleditdata/obstacle/decision/obstacle_decision.cppeditplan/prepare/prepare_default.cppeditplan/prepare/prepare_map_related.cppeditplan/prepare/prepare_spreader.cppeditproto/pnc_scene/compact_recorded_debug.protoadddata/plan_timing.hppeditplan/prepare/prepare_priori_bay_info.cppeditcore/snapshot_async.cppedithmi/replayer_hmi.cppeditdata/plan_frame.hppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditnode/logic.cppedittasks/deciders/lat_decider/side_pass_decider.cppeditproto/pnc_scene/compact_plan_frame_fields.protoedithmi/widget/perf_cost_detail.hppaddcore/node_runtime_timing.hppaddreplayer/scene_data/plan_timing_proto_codec.cppeditcore/plan_async.cppeditdata/map/envelop/map_envelops.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditTesting/CMakeLists.txteditplan/prepare/prepare_offset.cppaddTesting/plan_timing_capture_test.cppeditplan/scenarios/prepare_scenario.cppeditplan/prepare/prepare_his.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/plan/ssep_data.hppdata/ssep/forward_ec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamlTesting/parking_pass_progress_test.cppdata/other/parking_pass_progress.cppreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/full_proto_custom_encoder.cppdata/other/parking_pass_progress.hppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppreplayer/scene_data/generated/plan_frame_descriptor.pb2540432575a6afd0326b72a4177a4fd48763eb8f1793028657000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持末段精准倒车阶段并保存跨帧状态按当前最后分段的前进转倒车切换精准倒车，替代固定两段判断。将最终倒车阶段绑定任务签名，跨搜索重置和失败重试保留，取消或目标变化后失效。同步 Full、Compact、候选帧编码及字段合同，旧数据缺字段时默认为 false。补充任务生命周期、场景参数读取和序列化往返测试。验证：158 项相关回归通过；生成和 Proto breaking 检查通过；两例 CPU 参数对照完成。 2026-10-26 23:30:57 +08002540432575a6afd0326b72a4177a4fd48763eb8ffix: 保持末段精准倒车阶段并保存跨帧状态editreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/compact_custom_field_proto_codec.cppeditproto/plan_data.protoeditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/full_proto_custom_encoder.cppeditdata/other/parking_pass_progress.hppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/other/parking_pass_progress.cppeditdata/ssep/forward_ec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditTesting/parking_pass_progress_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/plan/ssep_data.hppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/plan_frame_encoder.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/compact_numeric_policy.yamlTesting/ssep_path_corridor_test.cppscenarios/stage.cppscenarios/task_condition_evaluator.hpptasks/other_tasks/stitch_path_data_to_path.cppscenarios/task_condition_evaluator.cpp1ba3a01ff6b3ede89c696953fb00b15fee9768d71793028669000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 最后段跳过 PJPO 后优先拼接新 SSEP 路径共用生产任务组选择逻辑，依据实际跳过 PJPO 的最后段组选择 SSEP 拼接，避免静态规划器可用位导致复用旧路径。将方向校验放入 SSEP 拼接函数；无可用搜索结果保留历史路径兜底，新结果可用后优先采用。覆盖正倒车、新旧路径区分、WAIT 优先、公共 PJPO、方向错误及历史兜底后恢复。验证：6 项拼接回归及 30 项既有选择器/等待回归通过，pnc_node 编译通过。 2026-10-26 23:31:09 +08001ba3a01ff6b3ede89c696953fb00b15fee9768d7fix: 最后段跳过 PJPO 后优先拼接新 SSEP 路径editscenarios/stage.cppeditTesting/ssep_path_corridor_test.cppedittasks/other_tasks/stitch_path_data_to_path.cppeditscenarios/task_condition_evaluator.cppeditscenarios/task_condition_evaluator.hppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/pnc_scene/compact_plan_frame_fields.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/generated/plan_frame_decoder.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_safe_const.hppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_safe_const.cppreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/plan_frame_field_roles.csvproto/pnc_scene/full_plan_frame.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbtasks/deciders/other_decider/alarm_decider.cppreplayer/scene_data/generated/plan_frame_descriptor.pbb1002b6a3b41ba8a2c06afa119bb268a3702ae521793068851000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 配置挂车报警范围并精简快照结果保存 2026-10-27 10:40:51 +0800b1002b6a3b41ba8a2c06afa119bb268a3702ae52feat: 配置挂车报警范围并精简快照结果保存editreplayer/scene_data/generated/scene_replay_api_descriptor.pbedittasks/deciders/other_decider/alarm_decider.cppeditproto/pnc_scene/compact_plan_frame_fields.protoeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/front_vehicle_reverse_alarm_test.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/config/cfg_safe_const.hppeditproto/pnc_scene/full_plan_frame.protoeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/plan_frame_full_mapping.yamleditreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/plan_frame_decoder.cppeditdata/config/cfg_safe_const.cppeditproto/config.protoeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/compact_typed_field_codec.cppssep/test/truck_parking_retry_test.ccssep/scenarios/truck_accurate_reversing_planner.cc8d596476920b044ec8d28fdcd4826c67d8e1eb0d1793079665000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止精准倒车预优化改变换向方向校验预优化后的几何运动方向与方向标签，异常时回退已验证的搜索初值。增加六米硬尾段场景回归，检查运动学和起终点约束。 2026-10-27 13:41:05 +08008d596476920b044ec8d28fdcd4826c67d8e1eb0dfix: 防止精准倒车预优化改变换向方向editssep/test/truck_parking_retry_test.cceditssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/stitching_replanner.hssep/scenarios/truck_accurate_reversing_planner.ccssep/test/truck_parking_retry_test.ccssep/test/rigid_truck_parking_validation_test.ccssep/ssep_planner.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/rigid_truck_parking_validation.h011024d861aea1f5abb8fffc2aed8e4dd0994ee61793079673000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制泊车换向段有效长度至少为1.5米搜索候选与优化结果统一检查换向段长度，最终停车段允许短距离对位。覆盖历史拼接、路径缓存与实际下发出口，拒绝优化压短或复用的短段路径。新增边界、重复点、方向标签兼容及候选拒绝测试；相关45项CPU测试通过。 2026-10-27 13:41:13 +0800011024d861aea1f5abb8fffc2aed8e4dd0994ee6fix: 限制泊车换向段有效长度至少为1.5米editssep/scenarios/rigid_truck_parking_validation.heditssep/scenarios/stitching_replanner.heditssep/test/rigid_truck_parking_validation_test.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/ssep_planner.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/truck_parking_retry_test.ccdata/other/flow_control.cpp14c18c36c3fef3a7241cfa27c3e9b222b7b70e091793079678000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧散货停车与远控的TTC碰撞豁免使用最终目标剩余距离判断停车豁免，避免中间换向短段提前忽略碰撞。远控专用豁免分支要求请求显式设置is_ignore_safe。 2026-10-27 13:41:18 +080014c18c36c3fef3a7241cfa27c3e9b222b7b70e09fix: 收紧散货停车与远控的TTC碰撞豁免editdata/other/flow_control.cppssep/scenarios/stitching_replanner.hssep/test/parking_history_collision_test.ccddcdc24a24079387fad077e7016d45682cc5f92c1793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强泊车历史路径的碰撞优化重试历史路径在曲率通过但车身或前向净空不满足时继续增强碰撞罚项重试，避免复用碰撞初值。保留请求截止时间与最终完整验收，并覆盖超过换向点后的历史路径修复。 2026-10-27 15:44:40 +0800ddcdc24a24079387fad077e7016d45682cc5f92cfix: 增强泊车历史路径的碰撞优化重试editssep/test/parking_history_collision_test.cceditssep/scenarios/stitching_replanner.hssep/test/rigid_truck_parking_validation_test.ccssep/scenarios/rigid_truck_parking_validation.h5dcb35c17c561812fde8b2bdb3cee25c90c69b431793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按真实圆弧长度验收泊车换向段对严格满足圆弧几何的采样边恢复弧长，避免有效 1.5 米换向段因弦长略短被拒绝。一般折线仍保守取弦长，保持原长度阈值和容差，覆盖 UTM 与异常朝向边界。 2026-10-27 15:44:40 +08005dcb35c17c561812fde8b2bdb3cee25c90c69b43fix: 按真实圆弧长度验收泊车换向段editssep/scenarios/rigid_truck_parking_validation.heditssep/test/rigid_truck_parking_validation_test.ccssep/scenarios/truck_accurate_reversing_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/test/coarse_search_stop_clearance_test.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/test/truck_parking_retry_test.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/test/rigid_truck_tail_connection_test.ccf42ac550d56adfde7577d0b89968e07325d7eb3e1793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复狭窄泊车场景的搜索与调整重试跳过无改进节点以保留搜索预算，保留未延伸换向候选，并在共享截止时间内依次细化步长和补充中间曲率；已配置细步长也能进入曲率补救，复用 planner 时恢复原配置。双向重试允许另一侧继续展开，软途经参考不再阻挡调整兜底。兜底继承派生默认尾长，保留显式配置优先及粗路径任务换向标记，不伪造纯倒车任务进度。验证：相关 77 项 C++ 用例最终通过；原始 22 例回放成功，独立 0.25 米步长变体恢复成功。验证使用隔离源码快照，未纳入工作树并行 KEB 改动。 2026-10-27 15:44:40 +0800f42ac550d56adfde7577d0b89968e07325d7eb3efix: 恢复狭窄泊车场景的搜索与调整重试editssep/scenarios/truck_accurate_reversing_planner.cceditssep/test/truck_parking_retry_test.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/test/coarse_search_stop_clearance_test.cceditssep/test/rigid_truck_tail_connection_test.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/scenarios/truck_accurate_reversing_planner.hssep/test/local_regression/rigid_parking_quality.pyssep/test/local_regression/rigid_parking_motion_quality.pyssep/test/local_regression/test_rigid_parking_motion_quality.pyssep/test/local_regression/test_weiqiao_rigid_parking_quality.py8e81fbaf65f9bfa662b94525eac04239aab0198b1793087080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐泊车独立验收的换向段长检查独立按实际几何方向检查非末段至少 1.5 米，并对严格圆弧恢复弧长；保留末段和单向短路径豁免，输出逐段长度指标。仅在显式 allowed_direct_reverse 验收策略下接受无任务换向标记的纯倒车路径，不改变默认策略或在线任务进度。验证：30 项 Python 用例通过；原始 22 例及独立步长变体均通过完整几何检查。 2026-10-27 15:44:40 +08008e81fbaf65f9bfa662b94525eac04239aab0198bfix: 补齐泊车独立验收的换向段长检查editssep/test/local_regression/test_rigid_parking_motion_quality.pyeditssep/test/local_regression/rigid_parking_motion_quality.pyeditssep/test/local_regression/rigid_parking_quality.pyeditssep/test/local_regression/test_weiqiao_rigid_parking_quality.pyTesting/search_decider_lifecycle_test.cppdata/plan/ssep_task_context.cppdocs/ssep_search_lifecycle.md4159bbadf81e896d2dcf662798fc6994cf5f58fa1793103247000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 变道任务交接不因道路类型和目的地变化重搜移除变道复用的堆场区域限制、前后区域相等限制及任务目的地相等检查，保留变道连续性和目标车道覆盖旧完成点等校验。补充左右变道跨区域及目的地变化回归，并验证连续任务交接保留路径和搜索请求次数、手动重搜仍有效；同步更新生命周期说明。验证：clang-format 21.1.8；分布式编译通过；reference_line_replan_test 447 项通过、101 项跳过、0 失败。 2026-10-27 20:14:07 +08004159bbadf81e896d2dcf662798fc6994cf5f58fafix: 变道任务交接不因道路类型和目的地变化重搜editdata/plan/ssep_task_context.cppeditdocs/ssep_search_lifecycle.mdeditTesting/search_decider_lifecycle_test.cppTesting/reference_line_replan_test.cppdata/map/reference/bends_decider/bends_decider.cppdata/plan/smooth_data.cpp9255010d2a0023cf25523e2a98ca92860322ad941793104586000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止弯道缓存覆盖当前路段并修正重搜判断弯道选线仅允许修改当前路段内的车道，阻止缓存首弯道跨路段覆盖定位索引，并记录不匹配信息。按旧车道映射到本帧后的索引与当前选线比较，避免索引重排误报并保留真实换线触发；修正历史地图有效性检查。新增旧弯道、未来弯道、连续帧、真实换线、同车道索引重排及直线路段保护回归。分布式编译通过，452 项测试通过、101 项跳过、0 失败；未执行现场 bag 算法回放，缓存异常来源仍待确认。 2026-10-27 20:36:26 +08009255010d2a0023cf25523e2a98ca92860322ad94fix: 防止弯道缓存覆盖当前路段并修正重搜判断editTesting/reference_line_replan_test.cppeditdata/map/reference/bends_decider/bends_decider.cppeditdata/plan/smooth_data.cppTesting/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpp7b277702d39c3c2f9e72ad5f92d3b1f82e469ea81793115188000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免弯中任务后续路线变化触发重搜弯中最近出口未变时结束出口比较，避免新任务截短远端路线触发 AFTER_BEND_CHANGE；保留直道前方目标检查，并修正历史地图有效性判断。新增普通路口和桥梁共 12 个回归用例。相关测试 464 个通过、101 个跳过；原始任务 82161 到 19613 生产决策链复现确认修复后不再重搜。 2026-10-27 23:33:08 +08007b277702d39c3c2f9e72ad5f92d3b1f82e469ea8fix: 避免弯中任务后续路线变化触发重搜editTesting/continuous_junction_replan_test.cppedittasks/deciders/other_decider/replan_decider.cppTesting/search_decider_lifecycle_test.cpptasks/deciders/other_decider/replan_decider.cpp2476fe1a5fde3cbbe1666ab1fb2abe0ba876ac501793166336000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制精准停车换向重搜并校验接入偏差精准停车内部正常换向时，使用原始 SSEP 下一段检查横偏不超过 10 cm 且车身航向差不超过 1 度，满足双门限才跳过换向重搜。保留首次场景切换及其他重搜触发，拒绝无效和退化路径。补充生命周期、阈值边界、角度归一化及现场录制路径测试。 2026-10-28 13:45:36 +08002476fe1a5fde3cbbe1666ab1fb2abe0ba876ac50fix: 限制精准停车换向重搜并校验接入偏差editTesting/search_decider_lifecycle_test.cppedittasks/deciders/other_decider/replan_decider.cppTesting/ssep_path_corridor_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_stage.cppscenarios/task_condition_evaluator.hpptasks/other_tasks/stitch_path_data_to_path.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp0984a943991619dd7013d4c57b7c6c7db8138ee21793166345000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景配置选择精准停车原始搜索路径新增精准停车任务选择条件，由场景配置决定全部分段是否直接输出 SSEP。只有实际选中直出组且未执行其他横向规划器时启用，保留 WAIT 优先级；方向不一致或直出失败时清空输出并报错。补充配置解析与 codec 往返、Stage 调度及路径输出测试，更新配置成员审计指纹。分布式构建 pnc_node 和相关测试通过，相关测试合计 261 项通过、101 项按参数范围跳过。 2026-10-28 13:45:45 +08000984a943991619dd7013d4c57b7c6c7db8138ee2feat: 支持场景配置选择精准停车原始搜索路径editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonedittasks/other_tasks/stitch_path_data_to_path.cppeditdata/config/cfg_stage.cppeditscenarios/task_condition_evaluator.cppeditscenarios/task_condition_evaluator.hppeditTesting/ssep_path_corridor_test.cppeditdata/config/cfg_stage.hppssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/ssep/forward_ec.cppssep/keb_optimizer/keb_problem.hssep/scenarios/truck_accurate_reversing_planner.ccssep/test/rigid_truck_parking_validation_test.ccTesting/ssep_scenario_config_lifecycle_test.cppssep/test/rigid_truck_tail_connection_test.ccssep/keb_optimizer/keb_problem.cca0200b8fa646a7ddcbc38d6ec2b3aaf8a23634241793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持精准停车前进拉直余量及完整候选验收将实际 KEB 优化和硬约束纳入候选验收，失败后继续搜索。按场景配置尝试额外前进拉直，空间不足逐级缩短，保持完整碰撞与运动学校验及末端约束。验证：搜索测试 51 项、配置测试 43 项通过，8 个 CPU 现场场景回放成功。 2026-10-28 16:02:47 +0800a0200b8fa646a7ddcbc38d6ec2b3aaf8a2363424feat: 支持精准停车前进拉直余量及完整候选验收editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/test/rigid_truck_tail_connection_test.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/keb_problem.heditdata/ssep/forward_ec.cppeditssep/keb_optimizer/keb_problem.cceditssep/scenarios/truck_accurate_reversing_planner.heditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/test/rigid_truck_parking_validation_test.cceditssep/scenarios/truck_accurate_reversing_planner.ccdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppTesting/reverse_pickup_lifecycle_test.cppda7b1489ff8d91aef548efdd2f7e758a583682e21793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止精准停车中间换向时误入锁定状态入锁前核对当前与历史帧为同任务同一有效末段，阻止等待重搜时完成。历史引导线失效时使用实际 SSEP 末点与已有距离阈值判定，保留反向取货及末段料堆分支。新增 9 项回归通过。 2026-10-28 16:02:47 +0800da7b1489ff8d91aef548efdd2f7e758a583682e2fix: 防止精准停车中间换向时误入锁定状态editdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditTesting/reverse_pickup_lifecycle_test.cppTesting/path_pair_validation_test.cpptasks/plan/reversing_truck_path_task.cpp037c8d0eba35271a0690acf379bf56039c9699561793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 拒绝非有限值及退化的 SSEP 路径在 WBCA 之前统一检查车头与挂车坐标、角度、曲率及路径长度，允许局部重复点。非法输入清理优化缓存并沿用历史路径回退；更新已失效的旧切线测试，保留无效几何拒绝断言。 2026-10-28 16:02:47 +0800037c8d0eba35271a0690acf379bf56039c969956fix: 拒绝非有限值及退化的 SSEP 路径editTesting/path_pair_validation_test.cppedittasks/plan/reversing_truck_path_task.cppTesting/routing_transition_test.cpp633f8b2ff847e3aa2c8eb8ed6ca4ebb6c808ed6b1793174567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补齐同任务搜索重置测试的历史任务标识使当前与历史任务 ID 一致，正确验证同任务保留搜索与任务变化清理搜索。完整 routing_transition 测试 117 项通过，生产 pnc_node 编译通过。 2026-10-28 16:02:47 +0800633f8b2ff847e3aa2c8eb8ed6ca4ebb6c808ed6btest: 补齐同任务搜索重置测试的历史任务标识editTesting/routing_transition_test.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/lattice/longitudinal_comfort.hpptasks/deciders/long_decider/constrain_decider.cppdata/lattice/trajectory_evaluator.cpp8a8b6f78956d8d7a85f37e73c6e605f6051c2a671793186158000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: wbca接入lattice的速度考虑载重系数 2026-10-28 19:15:58 +08008a8b6f78956d8d7a85f37e73c6e605f6051c2a67feat: wbca接入lattice的速度考虑载重系数editreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/lattice/longitudinal_comfort.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/lattice/trajectory_evaluator.cppTesting/ssep_path_corridor_test.cpptasks/deciders/search_decider/search_decider_lifecycle.cppTesting/search_decider_lifecycle_test.cppTesting/scenario_search_exit_test.cpptasks/deciders/other_decider/replan_decider.cppdata/app/reaction/app_reaction.cpp6094ad89d685cfe28efb384fa96ac504b5906a441793189600000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理跨任务出库状态并限制出库点变化重搜补齐任务重置时的途经点标志和开放空间点清理，任务切换或取消时清除旧搜索输入，避免历史起点导致新任务提前退出出库。仅在同一有效任务内判断 BULK_OUT_POS_CHANGE，保留同任务重搜及路径复用行为。补充取消、任务切换、位移阈值和出库退出回归测试。 2026-10-28 20:13:20 +08006094ad89d685cfe28efb384fa96ac504b5906a44fix: 清理跨任务出库状态并限制出库点变化重搜edittasks/deciders/search_decider/search_decider_lifecycle.cppedittasks/deciders/other_decider/replan_decider.cppeditTesting/scenario_search_exit_test.cppeditTesting/ssep_path_corridor_test.cppeditTesting/search_decider_lifecycle_test.cppeditdata/app/reaction/app_reaction.cppdata/app/cmd/cmd_set_target.cppTesting/scenario_search_exit_test.cpp1ca86021a246a2354407e3fc858e57510c9884d81793189613000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 出库阶段拒绝普通新任务在 TRAVEL_OUT 阶段拒绝普通设置终点命令，覆盖搜索请求尚未发起的窗口，防止新任务替换正在执行的出库任务。保留取消任务和脱困命令例外，补充门禁、取消、正常行驶接收与脱困回归测试。 2026-10-28 20:13:33 +08001ca86021a246a2354407e3fc858e57510c9884d8fix: 出库阶段拒绝普通新任务editdata/app/cmd/cmd_set_target.cppeditTesting/scenario_search_exit_test.cppTesting/parking_pass_progress_test.cpp0925ba44a5874489d9209bda8423fc56fc8a776e1793189624000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补齐 IMV 停车测试夹具车型子类型设置 IMV 车型时同步填写 Proto 子类型，避免配置解码因车型不一致失败，恢复停车进度测试覆盖。相关测试合计 699 通过、101 跳过、0 失败，pnc_node 编译通过。 2026-10-28 20:13:44 +08000925ba44a5874489d9209bda8423fc56fc8a776etest: 补齐 IMV 停车测试夹具车型子类型editTesting/parking_pass_progress_test.cppssep/test/truck_parking_retry_test.ccssep/scenarios/truck_multi_segment_parking_planner.h04c09477538edbe70547a5a631db2cc7930b71d21793196268000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整卡车泊车搜索预算并保留细网格重试前向调整搜索按剩余总预算的三分之一分配时间，最多 4 秒，避免固定 2 秒在短换向候选被拒绝后过早截断后续可修复连接。首次粗网格调整只使用一半剩余预算；阶段超时且总请求尚未超时时，继续已有的细位置网格重试。最终阶段使用剩余预算，保持总请求截止时间以及碰撞、换向长度、末端直线和运动学验收要求。新增真实不可达场景测试，覆盖阶段超时保留预算、最终总超时及已过期请求不得继续重试。25 项专项测试通过；魏桥分析包中原参数末端直线为 2 米的 4 例 CPU 回放全部成功。3–4 米约束下仍可能超时，不把缩短末端直线的诊断实验计入原参数回归成功。 2026-10-28 22:04:28 +080004c09477538edbe70547a5a631db2cc7930b71d2fix: 调整卡车泊车搜索预算并保留细网格重试editssep/test/truck_parking_retry_test.cceditssep/scenarios/truck_multi_segment_parking_planner.hdocs/ssep_scenario_config_lifecycle.mdTesting/ssep_scenario_config_lifecycle_test.cppdata/ssep/ssep_scenario_config_loader.cpp6b52f31415f1bbe21684847b2de269833f181d9e1793284560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持场景位置条件的或匹配为 start/end 增加 any_of 和 Lane/YardArea 的 ids 简写，兼容原有单位置配置。加载阶段展开组合并保留规则优先级，不改变运行时匹配和快照合同。补充组合、优先级、非法配置测试及配置文档。验证：场景配置目标 130 项测试通过。 2026-10-29 22:36:00 +08006b52f31415f1bbe21684847b2de269833f181d9efeat: 支持场景位置条件的或匹配editdocs/ssep_scenario_config_lifecycle.mdeditTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/ssep_scenario_config_loader.cppdata/plan/ssep_data.cppssep/scenarios/head_straight_distance.hssep/test/CMakeLists.txtssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/scenarios/truck_bulk_yark_in_out_planner.hssep/test/coarse_search_stop_clearance_test.ccssep/data_structures/path_motion_segment.hssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccssep/test/keb_normal_extension_test.ccssep/test/rigid_parking_collision_test.ccssep/test/parking_collision_provenance_test.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.hssep/test/head_straight_distance_test.ccdata/ssep/ssep_ec.cppssep/scenarios/first_segment_clearance_checker.hssep/scenarios/rigid_parking_collision.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccdocs/ssep_scenario_config_lifecycle.mdssep/test/truck_bulk_exit_fallback_test.ccssep/test/forward_clearance_check_test.ccTesting/parking_pass_progress_test.cppssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/maps/ogm_config_utils.ccssep/maps/ogm_builder.hssep/keb_optimizer/keb_problem.hssep/ssep_planner.ccTesting/ssep_scenario_config_lifecycle_test.cpp51d60f87d931d70ebdb9d53081cc9b25ffd04dc21793284633000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出库起始直线与按行驶段恢复障碍物新增 head_straight_distance，使用任务锚点及执行期完成锁存，重搜只补剩余直线。纯前进候选在搜索、优化或验收失败后尝试多段调整，保留固定直线和正确方向标记。抽象首末段豁免的恢复区间，换向公共点及起点豁免过期后的路径使用恢复障碍物。统一搜索状态、KEB 选图和连续车身/停车扩展验收，保留终点与出入口清障语义。恢复起点来源对应的普通和反向膨胀，不重复扩大原图已有障碍。验证：459 项测试通过；CPU 2 米、3 米及任务进度派生场景复验。 3 米场景输出前进 3.000 米、倒车 2.123 米、前进 21.669 米。回绕派生输入按生产搜索起点方向构造后成功，旧输出驶入方向不作为新请求方向。 2026-10-29 22:37:13 +080051d60f87d931d70ebdb9d53081cc9b25ffd04dc2feat: 支持出库起始直线与按行驶段恢复障碍物editssep/test/forward_clearance_check_test.cceditssep/maps/ogm_config_utils.ccaddssep/scenarios/head_straight_distance.heditssep/test/parking_collision_provenance_test.ccaddssep/test/truck_bulk_exit_fallback_test.cceditssep/maps/ogm.cceditssep/scenarios/truck_bulk_yark_in_out_planner.cceditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/ssep_planner.cceditdata/plan/ssep_data.cppaddssep/test/head_straight_distance_test.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.heditTesting/parking_pass_progress_test.cppeditdocs/ssep_scenario_config_lifecycle.mdeditssep/keb_optimizer/keb_problem.ccaddssep/scenarios/first_segment_clearance_checker.heditssep/scenarios/rigid_parking_collision.heditssep/maps/ogm.heditssep/scenarios/truck_bulk_yark_in_out_planner.heditssep/maps/ogm_builder.heditssep/keb_optimizer/keb_problem.heditssep/test/keb_normal_extension_test.cceditssep/scenarios/scenario_planner_factory.heditssep/test/coarse_search_stop_clearance_test.cceditssep/maps/ogm_builder.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/test/CMakeLists.txteditssep/test/rigid_parking_collision_test.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditdata/ssep/ssep_ec.cppaddssep/data_structures/path_motion_segment.hdata/plan/predict_path.cpp31d897c6fd90bb3e9aab51787e51ac7d919d63f61793287717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复预测路径转向角平滑限速在 Truck 和 IMV 前后轮预测入口，将方向盘角速度按传动比换算为车轮弧度每秒，修复预测转角直接跳到控制目标的问题。统一增量限幅并处理非法速度和传动比，保留原函数声明。验证：通过项目分布式入口编译 pnc_node；12 个函数级数值测试通过，默认 0.05 秒步长下每步最大转角变化约 0.402 度。 2026-10-29 23:28:37 +080031d897c6fd90bb3e9aab51787e51ac7d919d63f6fix: 修复预测路径转向角平滑限速editdata/plan/predict_path.cppTesting/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpp350899fcd474265a40ef9470a357f0c87c212f1b1793290945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按车道身份判断弯后出口变化将历史出口车道 ID 映射到当前帧车道索引后再比较，避免索引重排引起误重搜或真实换道漏重搜；缺失匹配证据时继续触发重搜。增加普通路口和桥梁的同车道重排、真实换道编号不变回归。已运行 clang-format 21.1.8 和 git diff --check，编译测试由合入分支统一执行。 2026-10-30 00:22:25 +0800350899fcd474265a40ef9470a357f0c87c212f1bfix: 按车道身份判断弯后出口变化editTesting/continuous_junction_replan_test.cppedittasks/deciders/other_decider/replan_decider.cppTesting/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cpp5609d7fd460d641821becc569742693e93fb6f9f1793292748000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 仅凭明确出口变化触发重搜删除重复的车道匹配失败判断；校验出口决策索引与车道 ID 一致。旧车道缺失时，通过前后帧唯一的路口 ID 及紧邻完整出口确认目标变化，不再把地图裁剪或缺失决策直接当成换线。保持最近出口未知时的弯中检查范围。新增裁剪、缺失与越界目标、完整出口替换和重复路口身份回归。已完成 clang-format 21.1.8 与差异检查，编译测试由主代理统一执行。 2026-10-30 00:52:28 +08005609d7fd460d641821becc569742693e93fb6f9ffix: 仅凭明确出口变化触发重搜edittasks/deciders/other_decider/replan_decider.cppeditTesting/continuous_junction_replan_test.cppdata/decide/decide_reaction.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/remaining_plan_proto_codec.cppreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/ssep/forward_ec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/compact_numeric_policy.yamldata/decide/decide_reaction.hppdocs/ssep_scenario_config_lifecycle.mddata/ssep/accurate_parking_switch_config.hppTesting/search_decider_lifecycle_test.cpptasks/deciders/other_decider/replan_decider.cppreplayer/scene_data/compact_numeric_leaf_contract.csvTesting/scene_replay_foundation_test.cppreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/plan_frame_encoder.cppproto/decision.protoreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cpp9264d875d842aaa04e36dd2e0b3f080fbfc701441793329960000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制精准倒车换向追加调整并支持参数配置换向接入超差默认最多追加重规划 3 次，横偏和航向门限默认 0.10 米和 1 度，均按实际精准倒车场景配置。计数跨搜索继承，在任务取消、失效或目标变化时清零，无效路径不按次数放行。补齐多段泊车切入精准倒车时的参数传递，增加 Full/Compact Bootstrap 计数持久化及旧快照默认值，覆盖次数、误差边界、生命周期、配置切换和回放往返测试。验证：26 个精准倒车专项测试、131 个场景配置测试通过；回放基础测试 442 通过、9 个外部数据用例跳过；生成合同及兼容性检查通过。 2026-10-30 11:12:40 +08009264d875d842aaa04e36dd2e0b3f080fbfc70144fix: 限制精准倒车换向追加调整并支持参数配置editTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonadddata/ssep/accurate_parking_switch_config.hppeditdata/decide/decide_reaction.cppeditproto/decision.protoeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/compact_scene_descriptor.pbeditTesting/search_decider_lifecycle_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbedittasks/deciders/other_decider/replan_decider.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/remaining_plan_proto_codec.cppeditTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/decide/decide_reaction.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdocs/ssep_scenario_config_lifecycle.mdeditdata/ssep/forward_ec.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/base_stop_line_filter.cppTesting/pnc_map_overlap_test.cppdata/ssep/junction_exit_stop_line.hppdata/ssep/base_stop_line_filter.hpp7ecda84517c5e50293523a0b9acbff6066e0cf7a1793340287000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐路口出口边界停止线并统一目标筛选对仅有入口停止线的路口，按已选参考线的直接后继拓扑和边界范围补配唯一出口线；拒绝短连接、下一路口邻近及多候选歧义。目标路口筛选与最终输出共用局部停止线对，修复越过 junction 边界但尚未越过出口时漏选路口的问题，保留原地图归属。增加精确大榭地图、出口前后、连续搜索和歧义拒绝测试，并刷新生成审计摘要。分布式编译及 165 项测试通过；完整 bag 搜索链仍受后续起始车姿构建限制。 2026-10-30 14:04:47 +08007ecda84517c5e50293523a0b9acbff6066e0cf7afix: 补齐路口出口边界停止线并统一目标筛选editTesting/pnc_map_overlap_test.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdata/ssep/base_stop_line_filter.cppadddata/ssep/junction_exit_stop_line.hppeditdata/ssep/base_stop_line_filter.hppdata/config/cfg_safe_const.hppreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_safe_const.cppTesting/front_vehicle_reverse_alarm_test.cppreplayer/scene_data/compact_numeric_policy.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cpptasks/deciders/other_decider/alarm_decider.cppe5667cae323b43dbb5392445a4183fdb31512a891793340608000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认开启前车倒车报警并设为5米 2026-10-30 14:10:08 +0800e5667cae323b43dbb5392445a4183fdb31512a89fix: 默认开启前车倒车报警并设为5米editreplayer/scene_data/compact_numeric_leaf_contract.csveditdata/config/cfg_func_sw.hppeditreplayer/scene_data/compact_numeric_policy.yamleditdata/config/cfg_func_sw.cppeditTesting/front_vehicle_reverse_alarm_test.cppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppedittasks/deciders/other_decider/alarm_decider.cppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonea4d671ee9f4073d13dc4d6f2b69132e187641c31793341140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 同步报警默认值修改后的Proto声明记录 2026-10-30 14:19:00 +0800ea4d671ee9f4073d13dc4d6f2b69132e187641c3fix: 同步报警默认值修改后的Proto声明记录editreplayer/scene_data/generated/config_schema_inputs.jsoneditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsontools/pnc_proto_mapper/sync_config_schema.pytools/pnc_proto_mapper/test_config_schema_presence.pyedb64c5b1bf910600ddafc429fdcc2f41bbca3601793349964000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止配置 Proto 生成器复用保留字段支持显式分配跨分支字段号，并保留 reserved 声明。拒绝复用保留名称、单号和编号范围，补充生成稳定性与冲突回归。 2026-10-30 16:46:04 +0800edb64c5b1bf910600ddafc429fdcc2f41bbca360fix: 防止配置 Proto 生成器复用保留字段edittools/pnc_proto_mapper/test_config_schema_presence.pyedittools/pnc_proto_mapper/sync_config_schema.pyreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/compact_exact_numeric_visitor.cppproto/config.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamldata/vehicle/lock_station_data.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamlconfig/config_imv/plan.yamlTesting/routing_map_guard_test.cppdata/config/cfg_safe_const.hppreplayer/scene_data/generated/config_schema_inputs.jsonreplayer/scene_data/compact_numeric_leaf_contract.csvdata/config/cfg_safe_const.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbf227e302e1039319e01082b425810d4229a9c86a1793349983000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置缓冲点横向匹配距离将 UpdateBufferRange 横向阈值参数化，默认保持 3 米。配置加载及运行时对负数和非有限值回退默认值，保留零值语义。同步 Full/Compact 配置合同与旧数据缺省恢复，补充过滤及往返回归。 2026-10-30 16:46:23 +0800f227e302e1039319e01082b425810d4229a9c86afeat: 支持配置缓冲点横向匹配距离editreplayer/scene_data/compact_numeric_policy.yamleditproto/config.protoeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/plan_frame_encoder.cppeditdata/config/cfg_safe_const.cppeditreplayer/scene_data/generated/config_schema_inputs.jsoneditTesting/routing_map_guard_test.cppeditconfig/config_imv/plan.yamleditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/config/cfg_safe_const.hppeditdata/vehicle/lock_station_data.cppeditreplayer/scene_data/config_proto_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cppeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbdata/app/fsm/motion_fsm/motion_fsm.cppTesting/routing_map_guard_test.cppTesting/compact_driving_corridor_restore_test.cpp2ef00f120fe4f8a1a9dbbf4bebae84bf5b836a5f1793349998000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐双向 IMV 普通路由换向停车处理复用 SSEP 近换向线停稳处理，支持普通路由换向停车原因及解除前保持。保留安全停车优先级，并使普通路由不受遗留 SSEP 首段倒车状态限制。补充嵌套运动状态机回归及带 routing 初始化的可选 bag 验证入口。现场 bag 回放仍受备用参考线索引缺失阻断，未作为通过验收依据。 2026-10-30 16:46:38 +08002ef00f120fe4f8a1a9dbbf4bebae84bf5b836a5ffix: 补齐双向 IMV 普通路由换向停车处理editTesting/compact_driving_corridor_restore_test.cppeditdata/app/fsm/motion_fsm/motion_fsm.cppeditTesting/routing_map_guard_test.cppdata/ssep/into_yard_junction_ec.cpp68d673201540f19e3c0dbfbec43c6a12f7e8974e1793350024000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整中铁联集多车道进场末端直线距离 IMV 目标车道数不超过两条时保持末端附加直线距离 20 米，超过两条时调整为 5 米。 2026-10-30 16:47:04 +080068d673201540f19e3c0dbfbec43c6a12f7e8974efix: 调整中铁联集多车道进场末端直线距离editdata/ssep/into_yard_junction_ec.cppssep/test/truck_parking_retry_test.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/rigid_truck_keb_optimizer.cc567879bf2cce625d3718f930a96193e2e224b37d1793353628000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强集卡通用规划的车体碰撞与曲率修复增加独立真实车体线段碰撞代价和固定权重收尾，保留扫掠修复候选及完整路径验收。对未构建或已移交的优化问题返回状态错误，补充碰撞、生命周期与重建恢复回归。 2026-10-30 17:47:08 +0800567879bf2cce625d3718f930a96193e2e224b37dfix: 增强集卡通用规划的车体碰撞与曲率修复editssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_general_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/test/truck_parking_retry_test.ccssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_audit_html.hssep/offboard/servers/scene_vis_html_template.ccssep/test/local_regression/test_scene_vis_directory.pyssep/test/local_regression/test_scene_audit.py7af233ca518fa03984454a7c323f66efe29fc8691793353628000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复场景路径编码并完善可视化信息统一路径查询的 URI 编码，区分加号、空格及字面百分号编码；增加原始文件路径展示与复制，补齐地图和诊断路径图例。覆盖页面脚本及真实 HTTP 浏览、下载、展示和巡检回归。 2026-10-30 17:47:08 +08007af233ca518fa03984454a7c323f66efe29fc869fix: 修复场景路径编码并完善可视化信息editssep/offboard/servers/scene_vis_server.cceditssep/offboard/servers/scene_vis_html_template.cceditssep/test/local_regression/test_scene_vis_directory.pyeditssep/offboard/servers/scene_audit_html.heditssep/test/local_regression/test_scene_audit.pyssep/protos/planning_result.protossep/offboard/ssep_replay_workbench/editor/simulation_scene_factory.ccCMakeLists.txtssep/data_structures/path_repository_manager.ccssep/offboard/ssep_replay_workbench/app/workbench_main.ccssep/protos/map_element.protossep/protos/diagnostic.protossep/common/utils/path_result_codec.ccssep/common/utils/pass_point_proto.hssep/data_structures/planner_param.hssep/offboard/generate_scene_data/CMakeLists.txtdata/ssep/ssep_ec.cppdata/ssep/ssep_activation.cppssep/offboard/ssep_replay_workbench/model/repository_visualization.ccTesting/ssep_path_corridor_test.cppreplayer/scene_data/generated/compact_scene_descriptor.pbssep/protos/params.protoproto/pnc_scene/compact_replay_input.prototools/pnc_proto_mapper/migrations/ssep_v3_encoding10_protobuf391.jsonssep/common/utils/path_result_proto_validation.hssep/test/scene_preprocessor_test.ccssep/protos/path.protoTesting/ssep_replay_pipeline_test.cppTaskfile.ymlreplayer/scene_data/compact_ssep_ec_geometry_codec.cppssep/protos/scene.protossep/offboard/path_drawing_tool/CMakeLists.txttools/pnc_proto_mapper/testdata/proto3_optional_pre_391_descriptor.pb.gzssep/test/proto_converters_test.ccreplayer/scene_data/compact_numeric_leaf_contract.csvTesting/ssep_request_resources_test.cppssep/offboard/ssep_replay_workbench/model/path_visualization.cctools/pnc_proto_mapper/test_ssep_encoding10.pyssep/common/utils/scene_preprocessor.ccoffboard/keb_path_opt_cli/keb_single_frame_cli.ccssep/test/ssep_path_result_codec_test.ccssep/test/CMakeLists.txtssep/common/utils/proto_converters.hppdata/other/flow_control.cppssep/test/ssep_scene_planner_test.ccssep/offboard/ssep_replay_workbench/tests/target_scene_contract_test.ccssep/offboard/ssep_replay_workbench/worker/worker_session.ccdocs/pnc_algorithm_replay/proto_generation.mdssep/common/ssep_scene_format.hssep/data_structures/map_element_polyline.cctools/pnc_proto_mapper/test_ssep_scene_v3.pyTesting/scene_replay_foundation_test.cpphmi/draw/draw_ssep.cppreplayer/scene_data/generated/plan_frame_encoder.cppssep/offboard/servers/scene_audit.hTesting/live_compact_version_test.cppssep/offboard/ssep_replay_workbench/tests/editor_document_test.ccssep/common/utils/scene_frame_visualization.ccssep/offboard/servers/scene_editor_server.ccssep/offboard/scene_replay/replay_scene_frame_cli.ccssep/offboard/ssep_replay_workbench/tests/worker_session_test.ccssep/offboard/scene_replay/CMakeLists.txttools/pnc_proto_mapper/test_protobuf_391_compat.pyTesting/ssep_raw_scene_geometry_test.cppssep/offboard/ssep_replay_workbench/editor/editor_render_model.ccssep/test/ssep_planner_test.ccssep/offboard/servers/CMakeLists.txtssep/offboard/generate_path_repository/CMakeLists.txttools/pnc_proto_mapper/descriptor_compat.pyssep/offboard/CMakeLists.txtssep/offboard/ssep_replay_workbench/tests/simulation_scene_factory_test.ccssep/offboard/ssep_replay_workbench/editor/editable_scene_document.ccssep/offboard/ssep_replay_workbench/editor/scene_validator.ccreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pbssep/offboard/ssep_replay_workbench/model/annotated_scene_normalizer.cc2fee1a093de0c0ad52ee4470abc3a0ab7afc8bef1793373043000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容现场 Protobuf 3.9.1 工具链将 SSEP 与 Compact 的 110 个 proto3 optional 字段改为独立 oneof，保留字段编号、类型、缺失与显式默认值语义；使用公开 case 接口适配旧版生成代码，并同步描述符、数值字段清单和精确迁移指纹。生产构建最低版本恢复为 3.9.1；独立 Workbench UI 保留原有 3.20 依赖。增加冻结旧合同的双向读写回归，不冻结完整文件阻止合法新增。历史 baseline 和 21 项已有迁移例外保持不变。验证：pnc_node 与四个测试目标使用 3.9.1 构建并链接 libprotobuf.so.20； C++ 634 通过、12 跳过、0 失败；两版 protoc 的 wire 回归、生成物检查及精确迁移检查通过。验证在本机 x86 CPU 环境完成，未实测 Orin。 2026-10-30 23:10:43 +08002fee1a093de0c0ad52ee4470abc3a0ab7afc8beffix: 兼容现场 Protobuf 3.9.1 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修正离线工具引用 SSEP 生成头文件的路径将两处 ssep/protos/scene.pb.h 引用改为 protos/scene.pb.h，匹配工程已声明的 build/ssep include 根目录，解决 Orin 构建 snapshot_vehicle_trace 时生成头文件不可见的问题。通过生成器更新受头文件内容影响的 AST 审计哈希，成员与合同不变。移除本机缓存中掩盖问题的构建根目录 include 后，使用工程分布式入口构建 snapshot_vehicle_trace、bag_to_keb_scene 和 pnc_node 通过。验证在本机 x86 / Clang 18 / Protobuf 3.9.1 完成，未直接运行 Orin CI。 2026-10-31 08:42:09 +0800d4013a8e5940de224a881a679d0ed1389e75b1a7fix: 修正离线工具引用 SSEP 生成头文件的路径editdata/ssep/ssep_scene_constraints.hppeditdata/ssep/ssep_ec.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsongithttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuo2221http://159.27.114.184:8080/jenkins/job/module-pnc_replayer/2221/Started by upstream project "orin-module-slave32" build number 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