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"data/obstacle/ogm.cpp" }, { "editType" : "edit", "file" : "data/obstacle/ogm.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_safe_const.hpp", "data/config/cfg_safe_const.cpp", "data/plan/switch_data.cpp" ], "commitId" : "858a29dc3f9fbae8884fdb3a960bde21ab32dae4", "timestamp" : 1782888195000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值\u000a\u000a新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项,\u000a锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0;\u000a修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。\u000a", "date" : "2026-07-01 14:43:15 +0800", "id" : "858a29dc3f9fbae8884fdb3a960bde21ab32dae4", "msg" : "feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值", "paths" : [ { "editType" : "edit", "file" : "data/plan/switch_data.cpp" }, { "editType" : "edit", "file" : 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"c96eaa847718662964d9474b5d2a825312fe1374", "timestamp" : 1783336140000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "修复 replayer 换图后 DrawMap 缓存 offset_ptr 悬空导致的崩溃\u000a\u000alane/road/junction 等指针是 offset_ptr(内存映射), 换图重建 HDMap 后旧指针\u000a悬空。DrawMap 跨帧缓存这些指针, 但刷新只看车位移、漏了换图判断, 换图后车未\u000a大幅移动时解引用悬空指针崩溃。DrawBaseMap 增加 map_path 变化检测, 换图时强制\u000a清空重取。\u000a", "date" : "2026-07-06 19:09:00 +0800", "id" : "c96eaa847718662964d9474b5d2a825312fe1374", "msg" : "修复 replayer 换图后 DrawMap 缓存 offset_ptr 悬空导致的崩溃", "paths" : [ { "editType" : "edit", "file" : "hmi/draw/draw_map.cpp" }, { "editType" : "edit", "file" : "hmi/draw/draw_map.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/plan_frame.cpp", "data/decide/decide_reaction.hpp" ], "commitId" : "4119dd8a91225742a102087052275e92f31e2741", "timestamp" : 1783342535000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "修复变道临停标志位在非变道场景残留导致的幽灵停车线\u000a\u000areq_stop_to_wait_change_lane_ 是跨帧锁存位, 原仅在 LaneChangeDecider 内复位,\u000a而 OPEN_SPACE/BULKLOAD/倒车等场景不调度该 decider, 标志位残留会被 constrain_decider\u000a读到并一直在车前挂临停停车线. 改为在 decision_reaction_ 每帧 FromHis 流转处按\u000aplanner 边界兜底清除.\u000a", "date" : "2026-07-06 20:55:35 +0800", "id" : "4119dd8a91225742a102087052275e92f31e2741", "msg" : "修复变道临停标志位在非变道场景残留导致的幽灵停车线", "paths" : [ { "editType" : "edit", "file" : "data/decide/decide_reaction.hpp" }, { "editType" : "edit", "file" : "data/plan_frame.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "hmi/draw/draw_map.cpp" ], "commitId" : "ad363a6776d190a15f4c8d6f1876c1534647a9b1", "timestamp" : 1783344757000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "修复 DrawMap last_map_path_ 从未赋值导致每帧全量重取地图\u000a\u000alast_map_path_ 声明后从未被赋值, 恒为空串, 使换图检测 map_changed 恒为\u000atrue, 每帧强制重取 lanes/roads/junctions 等, 架空 IsNeedGetMap 的位移缓存。\u000a在重取分支开头记录当前 map_path(放在后续 Get* 之前, 保证即便中途异常也已\u000a记下, 不会下一帧误判换图)。\u000a", "date" : "2026-07-06 21:32:37 +0800", "id" : "ad363a6776d190a15f4c8d6f1876c1534647a9b1", "msg" : "修复 DrawMap last_map_path_ 从未赋值导致每帧全量重取地图", "paths" : [ { "editType" : "edit", "file" : "hmi/draw/draw_map.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/ogm.hpp", "data/obstacle/ogm.cpp" ], "commitId" : "2019c0c26a27438accffa0ef8c1227a46aa84356", "timestamp" : 1783403360000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "OGM 距离场增加最近占用来源标注, mask 3→5, 查询索引对齐写入端截断约定\u000a\u000a- distanceTransform 带 DIST_LABEL_PIXEL 输出 label_map, 按占用灰度建\u000a label→OccSource(道路边界/沟/上下层点云/实体/预测框) 查表, 供走廊与\u000a DP 按来源分级处理\u000a- mask 3→5: 3×3 掩模斜向 2~5% 低估对小障碍边界定位影响放大\u000a- GetNearestObstacleDistance/GetNearestSource 先截断 x/res 再加 center,\u000a 与写入端同约定, 消除负半平面 1 格系统性偏移\u000a", "date" : "2026-07-07 13:49:20 +0800", "id" : "2019c0c26a27438accffa0ef8c1227a46aa84356", "msg" : "OGM 距离场增加最近占用来源标注, mask 3→5, 查询索引对齐写入端截断约定", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/ogm.cpp" }, { "editType" : "edit", "file" : "data/obstacle/ogm.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/boundary/driving_corridor.cpp", "data/boundary/driving_corridor.hpp" ], "commitId" : "194f7ed1a5314077a82ef32190909f6d32359516", "timestamp" : 1783403410000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "走廊 gap 扫描升级: 占用按来源分型写入, 断面间小障碍防丢, EMA 端点双条件\u000a\u000a- BuildOgm 按危险度排序写占用灰度(道路边界200/沟248/下层253/上层255/\u000a obj251/预测250), 道路边界墙沿 shift 边界左右分开画折线, 防 uturn 宽\u000a 边界闭合多边形自相交\u000a- gap 扫描顺存与 SDF 同索引的最近占用来源行(set_sdf_source/\u000a GetSdfSourceByIdx), 供 DP/限速按来源分级\u000a- 幻影挖窗: free 段内 SDF 局部极小 < interval/2 判为断面间小障碍, 按等\u000a 值弦宽挖占用窗, 治小障碍随车前进可见/消失闪烁; 大障碍边界仍由细等值\u000a 线定位不损通道宽\u000a- gap 帧间 EMA 改端点双条件匹配, 防新障碍切出的子 gap 错配上帧大 gap\u000a 被拉走边界\u000a- 限速: 最近占用为道路边界/沟点的角点不触发降速, 只对障碍类降速\u000a", "date" : "2026-07-07 13:50:10 +0800", "id" : "194f7ed1a5314077a82ef32190909f6d32359516", "msg" : "走廊 gap 扫描升级: 占用按来源分型写入, 断面间小障碍防丢, EMA 端点双条件", "paths" : [ { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_lat_decide.cpp", "data/dp_poly_path/comparable_cost.hpp", "data/dp_poly_path/trajectory_cost.cpp", "data/config/cfg_lat_decide.hpp", "data/dp_poly_path/comparable_cost.cpp" ], "commitId" : "cb118a9628e712bb6e5cd1ebed337ffbca061b5b", "timestamp" : 1783403467000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "DP 代价修复: SDF 罚按来源分型, path_l/end 去归一化米制, 终点罚 off-by-one, 首碰 s 记录\u000a\u000a治绕行后不回目标车道的三层叠加缺陷 + 低速晚急拐形态:\u000a- SDF 软罚预留量按占用来源分档(cfg dp_poly_sdf_margin_*, 道路边界 0.3\u000a 其余 1.0): 原统一 1m 使普通车道纯居中也背 safety, 路径无故偏心 ~0.8m\u000a- SDF 碰撞硬判只统计非道路来源: 车身斜穿时角点横甩 1~2m 必扫进道路边\u000a 界硬判带,致回中心必碰整列 HAS_COLLISION; 道路越界由 gap 硬判+\u000a deficit+软罚兜底\u000a- path_l/path_end 偏离量改米制: 原 /(left+right) 归一化使回正拉力随走\u000a 廊宽度稀释, 高速压不过 v⁴ 级 ddl 机动代价; 权重换算 800→50/1e4\u000a- 末层判定 curr_level+1==total_level: 原 ==total_level 永不成立, 终点\u000a 回正罚从未生效\u000a- dl/ddl 等效车速下限 cfg 化(dp_poly_lat_v_floor): 低速急拐不再近乎免\u000a 费, 恢复早而缓的绕行形态偏好\u000a- ComparableCost 新增 first_coll_s 随碰撞位传播(取链上最小), 供 trace/\u000a HMI 把红×画在真实碰撞位置\u000a- CfgLatDecide 序列化 bump v4(新字段分版本 gate, 旧 dump 可回放)\u000a", "date" : "2026-07-07 13:51:07 +0800", "id" : "cb118a9628e712bb6e5cd1ebed337ffbca061b5b", "msg" : "DP 代价修复: SDF 罚按来源分型, path_l/end 去归一化米制, 终点罚 off-by-one, 首碰 s 记录", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_lat_decide.cpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/comparable_cost.cpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/comparable_cost.hpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/trajectory_cost.cpp" }, { "editType" : "edit", "file" : "data/config/cfg_lat_decide.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/dp_poly_path/dp_road_graph.cpp", "data/dp_poly_path/dp_road_graph.hpp" ], "commitId" : "feef2cf71d58677b8d9e71c41a573e349b6dd80f", "timestamp" : 1783403527000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "DP 采样与绕行决策: dl 5 档+双重剪枝, side_pass_range 真实区间, 回正保持\u000a\u000a- dl 档 {±0.2,0}→{±0.2,±0.1,0}: 补中间档使匀速缓爬可表达, 治低速\"贴 0\u000a 到临近才集中爬完\"的晚急形态\u000a- 转移剪枝: 端点 dl 档与段平均斜率偏差 >0.15 的曲线不构不算(直行区只留\u000a |dl|≤0.1 档), 把 5 档转移量压回 3 档量级; level1 起点真实 dl 不剪\u000a- 边界邻近 dl 档过滤: 到 gap 车中心可行边界余量 < 档位×5m 的\"冲向边界\"\u000a 档不生成节点, 贴边死节点连同其全部入边转移一并省掉\u000a- side_pass_range 改真实绕行区间[起坡点,回正点](沿路径回溯/延伸到偏移\u000a 回落 ≤0.3m); 旧 {触发s, +0.5} 起点晚报且终点无意义\u000a- 回正保持 KeepSidePassUntilCentered: 上帧在绕行且车实际仍偏 >0.5m 时\u000a 延续 label 直到回落, 三个无触发出口(路径空/dp_search_ok=false/前方无\u000a 障碍侧 gap)统一接入; 失败帧只延续不新发起, 依据车辆实际位置而非失败\u000a 路径形状, 治障碍甩到车后或单帧搜索失败时状态机提前退出绕行态\u000a", "date" : "2026-07-07 13:52:07 +0800", "id" : "feef2cf71d58677b8d9e71c41a573e349b6dd80f", "msg" : "DP 采样与绕行决策: dl 5 档+双重剪枝, side_pass_range 真实区间, 回正保持", "paths" : [ { "editType" : "edit", "file" : "data/dp_poly_path/dp_road_graph.cpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/dp_road_graph.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "hmi/widget/dp_decision_detail.hpp", "data/dp_poly_path/decision_trace.cpp", "hmi/widget/dp_decision_detail.cpp", "data/dp_poly_path/decision_trace.hpp" ], "commitId" : "b66975cb75f6934e16c59124411a873aa7cbd2fe", "timestamp" : 1783403558000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "side-pass trace/HMI 可观测增强: gap 边界来源分型, 红×画真实首碰位置\u000a\u000a- HMI \"DP决策过程\" gap 边界按 Gap::Source 分 5 类散点(道路/静障/OGM/\u000a 动态/未知), 空类型不占图例\u000a- trace 节点带 coll_s(链上首碰实际 s), 红×画在首碰位置而非节点 s(节点\u000a 记账有层间距+半车长视觉偏差, 易误读为障碍定位错), 红×聚成障碍轮廓;\u000a tooltip 增加首碰 s 与节点 s 对照\u000a- dl 档摊开系数 0.75→2.5 适配 5 档(相邻档 s 偏 0.25m 可分辨/可分别 hover)\u000a- DumpTraceJson 对 inf/nan clamp(不可达节点原写出裸 inf 致 JSON 非法)\u000a", "date" : "2026-07-07 13:52:38 +0800", "id" : "b66975cb75f6934e16c59124411a873aa7cbd2fe", "msg" : "side-pass trace/HMI 可观测增强: gap 边界来源分型, 红×画真实首碰位置", "paths" : [ { "editType" : "edit", "file" : "hmi/widget/dp_decision_detail.cpp" }, { "editType" : "edit", "file" : "hmi/widget/dp_decision_detail.hpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/decision_trace.hpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/decision_trace.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp" ], "commitId" : "0fe2532aafdf938b5180b486f12e94de923a10ee", "timestamp" : 1783403590000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "wbca 边界: path_bound 查找改最近邻断面, 修右边界误用左半宽\u000a\u000a- 查 driving_corridor path_bound() 原取\"右邻\"断面(单向 0~0.5m s 偏),\u000a 叠加 path_bound 标签在段中点(+0.25)后小障碍凹口与障碍 s 明显错位;\u000a 改取左右邻中更近者, 偏差降为 ±0.25(0.5m 断面结构下限)\u000a- 右边界原误加 UnderlyingHeadBase2left(复制粘贴), 左右半宽不同车型\u000a 右侧凹口深度偏差, 改 Base2right\u000a", "date" : "2026-07-07 13:53:10 +0800", "id" : "0fe2532aafdf938b5180b486f12e94de923a10ee", "msg" : "wbca 边界: path_bound 查找改最近邻断面, 修右边界误用左半宽", "paths" : [ { "editType" : "edit", "file" : "tasks/deciders/lat_decider/wbca_path_boundary_decider.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/boundary/driving_corridor.cpp" ], "commitId" : "ec46acf9b3f93515568d6f4e9e0a5686c0f20ce3", "timestamp" : 1783406310000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "gap 边界来源分型改查 SDF 真实占用来源, 修贴路沿 obj 被误标道路\u000a\u000aBuildGaps 端点来源原是几何猜测(距 shift 边界 0.3m 内标 ROAD, 否则一律\u000aSTATIC_OBS), 贴路沿的 obj 会被误标成道路; 道路边界被滤波/挖窗内侵超\u000a0.3m 时也会被误标静障、凑出假绕行 side。\u000a\u000a改为优先查 source_at_l(往占用侧外探半步防窄 gap 查到对侧), 按 OccSource\u000a映射: ROAD/DITCH→道路, UNDERLYING/UPPER→OGM, OBJ→静障, PRED_OBJ→动态;\u000aSDF 无信息才回退几何判定。side 触发判定同步从 ==STATIC_OBS 放宽为\u000a!=ROAD, 保持 OGM/动态切出边界仍可触发绕行的原行为。\u000a", "date" : "2026-07-07 14:38:30 +0800", "id" : "ec46acf9b3f93515568d6f4e9e0a5686c0f20ce3", "msg" : "gap 边界来源分型改查 SDF 真实占用来源, 修贴路沿 obj 被误标道路", "paths" : [ { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "ssep/scenarios/tractor_trailer_single_segment_parking_planner.h" ], "commitId" : "89b74c00e4aa7a417f79051a56bb3e35e52d6c12", "timestamp" : 1783410768000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/chenran", "fullName" : "chenran" }, "authorEmail" : "chenran@senior.auto", "comment" : "fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹\u000a\u000a", "date" : "2026-07-07 15:52:48 +0800", "id" : "89b74c00e4aa7a417f79051a56bb3e35e52d6c12", "msg" : "fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹", "paths" : [ { "editType" : "edit", "file" : "ssep/scenarios/tractor_trailer_single_segment_parking_planner.h" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/ogm.hpp", "data/boundary/driving_corridor.cpp", "data/obstacle/ogm.cpp" ], "commitId" : "116049d3a4a9a36d52f65de598509154ca22795b", "timestamp" : 1783413671000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "边界限速修误限: 贴边路沿点云归 ROAD, 兜底分支不吞豁免, 限速原因日志\u000a\u000a修\"贴道路边界就降速\": 真实路沿的下层/上层点云叠在/紧邻几何边界墙,\u000a按 253/255 写入后最近占用查出\"障碍\", ROAD/DITCH 豁免形同虚设。BuildOgm\u000a画完墙后对墙单独求距离场, 距墙 0.75m 带内的下层/上层点改标 200(路沿\u000a观测归道路边界); band 覆盖地图偏差(实测 0.46m 例)+截断离散 1 格。\u000aobj/预测框后画覆盖不受影响。\u000a\u000a修兜底误限: 轮廓顶点全被豁免时 clearance==DBL_MAX 被误判\"轮廓不可用\",\u000a退静态半宽兜底把已豁免占用重新罚回。contour_clearance 回传 any_valid,\u000a轮廓有效但全豁免=余量充足, 不再退兜底。\u000a\u000a可观测: 每段限速输出 [boundary_limit] 日志(最窄余量/来源/触发角点/\u000a占用像素 Frenet 位置); OgmDistance 新增 label_pos_ 表与 GetNearestOccPos\u000a反查最近占用位置。限速上限逐点取该 s 处地图限速(原用 ego 处一刀切)。\u000a", "date" : "2026-07-07 16:41:11 +0800", "id" : "116049d3a4a9a36d52f65de598509154ca22795b", "msg" : "边界限速修误限: 贴边路沿点云归 ROAD, 兜底分支不吞豁免, 限速原因日志", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/ogm.cpp" }, { "editType" : "edit", "file" : "data/obstacle/ogm.hpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_safe_const.cpp", "tasks/deciders/long_decider/constrain_decider.cpp" ], "commitId" : "d2cf01ba41650367ce28ef310b4f14b9665013b5", "timestamp" : 1783413693000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "边界限速调参: 距离阈值下限 0.25, 约束点去 10m 提前量\u000a\u000amin_boundary_distance_thr 0→0.25: 余量低于 0.25m 即压到最低限速,\u000a线性段从 0.25 起算, 贴障碍时限速更果断。\u000aCreateBoundaryConstrain 约束位置去掉固定 -10m 提前量, 按窄区真实\u000a入口下发(原提前量叠加窄区入口, 减速点过早)。\u000a", "date" : "2026-07-07 16:41:33 +0800", "id" : "d2cf01ba41650367ce28ef310b4f14b9665013b5", "msg" : "边界限速调参: 距离阈值下限 0.25, 约束点去 10m 提前量", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_safe_const.cpp" }, { "editType" : "edit", "file" : "tasks/deciders/long_decider/constrain_decider.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/ogm.hpp", "data/boundary/driving_corridor.cpp", "data/obstacle/ogm.cpp" ], "commitId" : "a0619a8d3ecd89c9c8d6af7a9377f1b2f9e49fd2", "timestamp" : 1783417370000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "移除边界限速调试日志与占用反查诊断\u000a\u000a问题已定位修复([boundary_limit] 日志完成使命), 摘除诊断链路:\u000aflush_segment 的日志与 occ 反查、NarrowInfo 收集、OgmDistance 的\u000alabel_pos_ 表与 GetNearestOccPos。保留功能性修复不动: 贴墙点云改标\u000aROAD、兜底 any_valid(轮廓全豁免不退兜底)。需要时从 116049d3a 找回。\u000a", "date" : "2026-07-07 17:42:50 +0800", "id" : "a0619a8d3ecd89c9c8d6af7a9377f1b2f9e49fd2", "msg" : "移除边界限速调试日志与占用反查诊断", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/ogm.hpp" }, 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"data/plan/side_pass_data.cpp" ], "commitId" : "788df06af2b12c622211308281cda512ac56ca5a", "timestamp" : 1783426041000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "修 UseHis 拼接膨胀: frenet_frame_path 先清空再替换, 触发条件改回 USE_HIS 状态\u000a\u000a两半同一 bug: ① IsNeedUseHis 手误写成 status_==RIGHT_SIDE_PASS → 右绕行\u000a期间每帧触发 UseHis; ② UseHis 不清空直接 append, his 又是上帧拼接结果\u000a→ frenet_frame_path 每帧净增约一条路径长, 线性膨胀且 s 失序(下游\u000aGenerateBoundary/EvaluateByS 按 s 有序二分, 边界被带乱)。\u000a\u000a修: UseHis 先 clear 再整体替换(s 平移到本帧参考系); 触发条件改回\u000astatus_==USE_HIS(状态机判定本帧 DP 结果不可信时才沿用上帧)。附带行为\u000a修正: 右绕行恢复与左绕一致、每帧使用 DP 新结果, 不再执行首帧旧路径的\u000a平移拼接版。\u000a", "date" : "2026-07-07 20:07:21 +0800", "id" : "788df06af2b12c622211308281cda512ac56ca5a", "msg" : "修 UseHis 拼接膨胀: frenet_frame_path 先清空再替换, 触发条件改回 USE_HIS 状态", "paths" : [ { "editType" : "edit", "file" : "data/dp_poly_path/dp_road_graph.cpp" }, { "editType" : "edit", "file" : "data/plan/side_pass_data.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "algorithm/wbca/wbca_manager.cpp" ], "commitId" : "dbd4b15f7d7bb90ad6666103ccf4eb966fec5a10", "timestamp" : 1783426056000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "wbca 热启动: route_info 空容器防护\u000a\u000aWarmStartFromHistory 访问 route_info.front() 前补 empty 检查, 防空容器\u000a未定义行为。\u000a", "date" : "2026-07-07 20:07:36 +0800", "id" : "dbd4b15f7d7bb90ad6666103ccf4eb966fec5a10", "msg" : "wbca 热启动: route_info 空容器防护", "paths" : [ { "editType" : "edit", "file" : "algorithm/wbca/wbca_manager.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h" ], "commitId" : "7d4f4840a712ed09b597ac66120373e289b263d0", "timestamp" : 1783502490000, "author" : { 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位置误差上界约3.5cm, 每cell至多16点\u000a- 路径带外及无引导线时退化为每cell仅保留首点(等同旧抽稀密度)\u000a- 栅格写入逻辑不变, 仅瘦身采样点集; 精细开关关闭时行为不变\u000a- 顺手收拢龙须/上下层四处重复写入分支为AddPoint\u000a", "date" : "2026-07-16 13:06:42 +0800", "id" : "4f361ae47bc58a4dca72f5bed937aac4e62e5974", "msg" : "perf: OGM精细碰撞采样点分级去重, 控制序列化体积", "paths" : [ { "editType" : "edit", "file" : "plan/prepare/prepare_ogm.cpp" }, { "editType" : "edit", "file" : "plan/prepare/prepare_ogm.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "tasks/deciders/other_decider/replan_decider.cpp" ], "commitId" : "9c1cf4a0f757427a691cfeb24228aeeb482cddb7", "timestamp" : 1784182499000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/chenran", "fullName" : "chenran" }, "authorEmail" : "chenran@senior.auto", "comment" : "fix: extending distance from current ego position.\u000a", "date" : "2026-07-16 14:14:59 +0800", "id" : "9c1cf4a0f757427a691cfeb24228aeeb482cddb7", "msg" : "fix: extending distance from current ego position.", 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"data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp", "data/app/fsm/task_command_type.cpp", "data/app/fsm/task_fsm/task_fsm.cpp" ], "commitId" : "c0b886c3483f4c06631a38fffa6952e98b606405", "timestamp" : 1784266225000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: park子状态机收普通任务卡死PARK_MOVE无法退出\u000a\u000abulk分支(FSM_TYPE_B)在PARK_LOCK收到无散货途径点的普通任务时,\u000aLock2Init/Init2Move仅凭routing标志放行进入PARK_MOVE, 而该态下\u000aMove2Adjust(需bulk_in点)与Park_Bulk2Travel(需bulk_out点)恒假,\u000a只能靠再次取消任务解锁(实车卡死近4小时):\u000a- Lock2Init/Init2Move补散货途径点检查, 普通任务不再进入死区\u000a- Park_Bulk2Travel新增逃生: 新任务无任何散货途径点且地图可用时退回TRAVEL\u000a\u000a同修停车场分支(FSM_TYPE_A)同类隐患: Park_Park2Travel对PARK_MOVE\u000a放行新routing逃生, 但带双卡死判据(switch恒KEEP+停留超20s),\u000a正常进位途中刷新停车任务不受影响\u000a\u000a另补EnumType2String缺失的E_TASK_FSM/E_MOTION_FSM映射,\u000a日志不再把正常事件误打成E_NO_STATE\u000a", "date" : "2026-07-17 13:30:25 +0800", "id" : "c0b886c3483f4c06631a38fffa6952e98b606405", "msg" : "fix: park子状态机收普通任务卡死PARK_MOVE无法退出", "paths" : [ { "editType" : "edit", "file" : "data/app/fsm/task_command_type.cpp" }, { "editType" : "edit", "file" : "data/app/fsm/task_fsm/task_fsm.cpp" }, { "editType" : "edit", "file" : "data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/map/pnc_map/pnc_map_path.cpp", "data/common/path.cpp" ], "commitId" : "f7ecf7b1dee5d6720bc871d7301910b4d6fd3b39", "timestamp" : 1784442326000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级\u000a\u000a- Path::GetIndexFromS/GetSmoothPoint 空路径不再fatal, 返回默认值并记ERROR日志\u000a- PncMapPath lane segment构造函数点数不足2时清空path_points_留无效path,\u000a 下游经IsAvailable安全降级, 不再CHECK崩进程\u000a", "date" : "2026-07-19 14:25:26 +0800", "id" : "f7ecf7b1dee5d6720bc871d7301910b4d6fd3b39", "msg" : "fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级", "paths" : [ { "editType" : "edit", "file" : "data/map/pnc_map/pnc_map_path.cpp" }, { "editType" : "edit", "file" : "data/common/path.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/common/path.hpp", "data/common/path.cpp", "data/common/path_point.cpp" ], "commitId" : "f8233babbba259246c3ed95227f6b9e2a070d600", "timestamp" : 1784449421000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: Path/DiscretizedPath 空与单点场景既有隐患修复\u000a\u000a- Path::Reset 补清 length_/num_sample_points_, 防复位后陈旧值残留\u000a- path.hpp 给 num_sample_points_/length_ 加类内默认值, 防默认构造读未初始化垃圾\u000a- Path::InitPoints 单点路径不再越界访问 path_pts_[-1]\u000a- DiscretizedPath::GetPathPtFromS/GetPathPtIdxFromS 空容器 front() UB 改空判降级,\u000a Evaluate/EvaluateReverse 的 CHECK(!empty()) fatal 同步改 LOG(ERROR)+默认点\u000a", "date" : "2026-07-19 16:23:41 +0800", "id" : "f8233babbba259246c3ed95227f6b9e2a070d600", "msg" : "fix: Path/DiscretizedPath 空与单点场景既有隐患修复", "paths" : [ { "editType" : "edit", "file" : "data/common/path.cpp" }, { "editType" : "edit", "file" : "data/common/path.hpp" }, { "editType" : "edit", "file" : "data/common/path_point.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "plan/prepare/prepare_status.cpp" ], "commitId" : "6087fa2830942d05011e37f9971570f912f11c23", "timestamp" : 1784461943000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换\u000a", "date" : "2026-07-19 19:52:23 +0800", "id" : "6087fa2830942d05011e37f9971570f912f11c23", "msg" : "fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换", "paths" : [ { "editType" : "edit", "file" : "plan/prepare/prepare_status.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/common/trajectory_point.cpp" ], "commitId" : "6762d53f760e626f1471f94fdd2ee82ef093e505", "timestamp" : 1784514428000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为\u000a\u000alower_bound 落在 end() 时原代码用 *end() 参与外插, 读垃圾内存, 结果不可信\u000a且可崩溃; 与 MatchPtByt 的同款历史修复对齐, 夹到末点返回, 并补 size<2 的\u000abegin 分支越界保护。动态边界收窄的 arrive_t 反查每帧命中该分支, 既有\u000acloud_trajectory/trajectory_combiner 调用点同受益。\u000a", "date" : "2026-07-20 10:27:08 +0800", "id" : "6762d53f760e626f1471f94fdd2ee82ef093e505", "msg" : "fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为", "paths" : [ { "editType" : "edit", "file" : "data/common/trajectory_point.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/decision/obstacle_decision.hpp", "tasks/plan/keb_utils.cpp", "tasks/deciders/other_decider/obstacle_decider.cpp", "data/obstacle/decision/obstacle_decision.cpp", "data/obstacle/obstacle_decider_attr.cpp", "data/obstacle/obstacle.hpp", "data/obstacle/obstacle_decider_attr.hpp", "data/dp_poly_path/trajectory_cost.cpp" ], "commitId" : "b9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd5", "timestamp" : 1784514450000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源\u000a\u000a新增 data/obstacle/decision/: ObstacleDecider 循环体收敛为 obstacle_decision::\u000aUpdate(决策态继承→运动状态估计→Base/Label 决策→label 消抖)。\u000a\u000a- 运动状态估计治动静误判误绕行: 感知 is_static 是 1km/h 单帧阈值, 测速置零\u000a 即翻转, 走静态标签分支引发误绕行。改用 his_states 15帧均值速度 + 3s 窗\u000a 净位移证据(≥0.8m, 滤 bbox 遮挡抖动) + 非对称迟滞(判动3帧/判静10帧);\u000a UNDETERMINED 回落感知 is_static, 真静障首帧即走静态通道。\u000a- direction 修复: 投影失败返 0 误判 REVERSE(同向车被当对向画反向延伸/污染\u000a 长决策)。改 +0.3/-0.15 非对称死区, 死区内保持上帧值。\u000a- label 消抖: 收紧立即生效, 放松需连续 5 帧确认。\u000a- 决策态继承走 Update 内 InheritDecisionState 而非 Obstacles::FromHis:\u000a 后者全 stage 无条件跑, 会在不调度 OBSTACLE_DECIDER 的 stage 残留旧值。\u000a- 准入谓词统一: IsDpDynamicCandidate/IsCorridorGridObstacle 单一事实源,\u000a DP 动态盒与 KEB 走廊消费端只调用不自判。\u000a- ObstacleHisStates 加 velocity_filter_available(): MeanFilter 空缓存取均值\u000a LOG_ASSERT 直接崩, 且该滤波器不参与序列化(回放载入恒空), 消费前必查。\u000a- debug_str 增加运动状态标记(U_/S_/M_)。attr 序列化升 v3。\u000a", "date" : "2026-07-20 10:27:30 +0800", "id" : "b9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd5", "msg" : "feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.cpp" }, { "editType" : "add", "file" : "data/obstacle/decision/obstacle_decision.hpp" }, { "editType" : "edit", "file" : 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"authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)\u000a\u000aDP 有时间参数化的动态碰撞 cost 但 path_bound 只由静态化 OGM 切出, 动态避让\u000a仅经 ref_l 软引导进 WBCA, 平滑权重把绕行量拉回。GenerateBoundary 在静态内缩\u000a后追加动态收窄:\u000a\u000a- 同向车时间对齐投影: 自车到达时刻按上帧轨迹反查(与 DP 同口径), 回放/首帧\u000a 退化匀速映射(下限步速 1.5m/s, 防起步覆盖塌缩); 预测横向漂移限幅采信在\u000a 当前实测 l ± min(0.5·t, 1m), 防邻道预测线漂移把直道路径挤偏。\u000a- 对向车会车旁路(dyn_clamp_meeting_bypass): 常被弯道/航向门打成 IGNORE 但\u000a 会车交互仍在, REVERSE+FRONT/SIDE+确认运动独立于 label 进收窄(不进 DP 盒\u000a 不改绕行决策); 弃时间对齐用 6s 扫掠包络(低速会车两车到达时刻天然错开),\u000a 豁免横向限幅(弯道对向车 Frenet 横移是真实几何), 收窄深度封顶半富余。\u000a- 安全阀: 只收窄不翻转绕行侧, 下限=DP路径±半宽+slack, 车前 5m 起步豁免,\u000a K=3/M=5 帧锁存消抖(锁存迁移不受单帧降级门控, 防会车中途边界抖动)。\u000a- 障碍 SL 半宽取 fabs: GetSLBoundary start/end 顺序未归一化, 裸减得负宽会\u000a 把占用区间整段丢弃(根治待源头归一, 见审计记录)。\u000a- 观测: 障碍 debug_str 追加 _D: 漏斗标记(幂等, 防回放重算\u000a 累积); trailer 走廊共用对象但不参与收窄不触碰锁存。\u000a- 灰度默认关(rosparam use_dynamic_bound_clamp, 验证需显式开)。\u000a", "date" : "2026-07-20 10:27:54 +0800", "id" : "4c6347125137a837135fd420306b5564fb539b50", "msg" : "feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_lat_plan.hpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.hpp" }, { "editType" : "edit", "file" : "tasks/deciders/lat_decider/trailer_side_pass_decider.cpp" }, { "editType" : "edit", "file" : "tasks/deciders/lat_decider/side_pass_decider.cpp" }, { "editType" : "edit", "file" : "data/config/cfg_lat_plan.cpp" }, { "editType" : "edit", "file" : "replayer/replayer_data_process/replayer_data_process.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/dp_poly_path/decision_trace.cpp", "data/dp_poly_path/decision_trace.hpp" ], "commitId" : "613bb76c1c04a61369d8cf718abbdd3ac5273f35", "timestamp" : 1784514485000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细\u000a\u000adyn_dbg 漏斗行(enabled→cand/bypass→arrive→hit→active→clamped, 哪层归零卡\u000a哪层) + dyn_notes 逐障碍投影统计(预测 s/l 范围/swept/inter/被拒原因) +\u000a断面级 dyn_* 收窄快照; dump 移到 GenerateBoundary 之后以带出收窄结果。\u000a排查'为什么没收窄'先看这两处。\u000a", "date" : "2026-07-20 10:28:05 +0800", "id" : "613bb76c1c04a61369d8cf718abbdd3ac5273f35", "msg" : "feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细", "paths" : [ { "editType" : "edit", "file" : "data/dp_poly_path/decision_trace.hpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/decision_trace.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc", "ssep/keb_optimizer/keb_problem.h", "ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h", "ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc", 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跟踪成熟度门(reserved_int_1 未初始化 + age), 修 age>0 放过新 track 的洞\u000a * 动态障碍足迹掩膜: 动车漏聚类只剩 OGM 点云时不切 gap(仅横向, 纵向照常)\u000a * 类型策略 SidePassPolicy: 车辆类居中跟车等/VRU 居中停让/靠边绕/场桥不碰,\u000a VRU 靠边无条件绕(解耦动静), 车辆类居中抛锚超时逃生口\u000a * 动作承诺: 一旦绕行锁到动作完成(甩到车后/VRU挡前硬退出/超时), 承诺期\u000a 旁路各软门, 防超车并排时半途回摆; 进入侧连续 N 帧确认防单帧误判固化\u000a- 走廊限速失真治理(零新栅格): 静态非绕行障碍横向余量按 frenet 补进限速;\u000a 同向并行/超车贴身降速(空间足够不降速), 复用 PARALLEL_OBSTACLE_SPEED_LIMIT\u000a- SL 约定全仓统一(start_l=左缘/end_l=右缘)+语义访问器\u000a- 所有功能使能开关集中到 CfgFuncSw, 数值调参留各域 config;\u000a 序列化迁移用占位模式保旧 dump 对齐(CfgFuncSw/CfgLatPlan/CfgSafeConst/\u000a ObstacleDeciderAttr/PerceptionObstacle 各升版本)\u000a", "date" : "2026-07-21 07:39:50 +0800", "id" : "5d4c8178edc1a0a13f8a08bd4e556f43e4ac96cf", "msg" : "feat: 绕行决策加固一轮(误绕行治理+类型策略+动作承诺+限速补全)", "paths" : [ { "editType" : "edit", "file" : "hmi/draw/draw_perception.cpp" }, { "editType" : "edit", "file" : "data/map/reference/reference_segment.cpp" }, { "editType" : "edit", "file" : "tasks/deciders/long_decider/constrain_decider.hpp" }, { 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治偏置起点+畸短首段致l=0直行走廊不可达误绕行", "paths" : [ { "editType" : "edit", "file" : "data/dp_poly_path/dp_road_graph.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/decision/obstacle_decision.cpp" ], "commitId" : "7f9cc76953b6e990b2a03616093dd9a9369432f7", "timestamp" : 1784642401000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)\u000a\u000a- 进入承诺除 label 意图外, 增加自车已实际横向偏移(|ego_match l|>0.5,\u000a 与 DP KeepSidePassUntilCentered 同源、对齐 kKeepLThr)作为必要条件,\u000a 防 l≈0 纯意图被单帧抖动瞬时锁成 30s 承诺\u000a- 退出新增\"空承诺撤销\": 已承诺但未实际横向执行且已不满足准入即释放,\u000a 零回摆风险; 已绕到一半(lateral_engaged)的仍走硬承诺完成\u000a- ego_match 不可用时证据无效, 进入保守拒绝、已建承诺不误撤\u000a", "date" : "2026-07-21 22:00:01 +0800", "id" : "7f9cc76953b6e990b2a03616093dd9a9369432f7", "msg" : "feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)", "paths" : [ { "editType" : "edit", "file" : 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"wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等\u000a\u000a会车 MEETING 原只挂在弯道/航向差大两门上, 直道正面对开车掉头后与参考线\u000a反平行(r_diff≈0)且在直线, 两门都不触发, 掉进余宽判定两侧不足即 BLOCK\u000a停等。在 LabelDecider !treat_as_static 块【先于】两门加会车短路:\u000aIsMeetingScenario(确认运动+逆向+车前/侧)一律走 MEETING——本体不 BLOCK/\u000a不写实体栅格, 只按预测轨迹收窄边界让行; 空间真不够时收窄切不出 gap,\u000a纵向 ST/guardian 照常停, 安全不丢。灰度仍 dyn_clamp_meeting_bypass。\u000a", "date" : "2026-07-22 11:20:00 +0800", "id" : "e448e4ce08f401dd7e70250707072e155614d092", "msg" : "feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_lat_plan.cpp" ], "commitId" : "40537f7ac3d275051064cfa1361a4a989672e8a6", "timestamp" : 1784690400000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)\u000a", "date" : "2026-07-22 11:20:00 +0800", "id" : "40537f7ac3d275051064cfa1361a4a989672e8a6", "msg" : "chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_lat_plan.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/constrain/longitude_constrain.hpp", "data/constrain/longitude_constrain.cpp" ], "commitId" : "ac4a015c1d0fa9fff7faee5f20a363bfd4d0706b", "timestamp" : 1784691662000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃\u000a\u000aNARROW_MEETING_SPEED_LIMIT 实装时只登记了 IsSpeedLimitType, 漏了\u000aLongitudeSpeedLimitConstrain::Initialize 的类型断言白名单。窄会车识别一旦\u000a触发 CreateNarrowMeetingConstrain 就 LOG_ASSERT 崩溃(Signal 6)。补三处:\u000a断言白名单 / TraceBack switch 分组(同 PARALLEL 走减速曲线) / ToString case\u000a(原走 default 显示 UNKNOWN)。走软限速, 未加 IsHardConstrainType。\u000a", "date" : "2026-07-22 11:41:02 +0800", "id" : "ac4a015c1d0fa9fff7faee5f20a363bfd4d0706b", "msg" : "fix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃", "paths" : [ { "editType" : "edit", "file" : "data/constrain/longitude_constrain.hpp" }, { "editType" : "edit", "file" : "data/constrain/longitude_constrain.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/decision/obstacle_decision.hpp", "data/map/pnc_map/pnc_map_path.cpp", "data/boundary/driving_corridor.cpp", "data/obstacle/decision/obstacle_decision.cpp", "data/obstacle/obstacle_decider_attr.cpp", "data/config/cfg_func_sw.hpp", "data/obstacle/obstacle_decider_attr.hpp", "data/config/cfg_func_sw.cpp", "data/map/pnc_map/pnc_map_path.hpp" ], "commitId" : "58317cd215b7ab93b84dab9a684c06666a8dacec", "timestamp" : 1784792061000, 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避免硬钳导致\u000a方向盘猛打; 车道被堵死→无 gap→复用纵向停, 不硬挤右侧。\u000a\u000a停住的对向车写入栅格(IsCorridorGridObstacle):\u000a对方停下后让行解除放行绕道, 若它不在图里就是\"图上空、实际有车\"。故确认\u000a静止+逆向+heading 对齐者写图, 能否通过交真实几何判定。heading 对齐判定\u000a(30°+3 帧防抖)从 meeting_fallback 分支提到动静分支之外, 否则静态车只能\u000a读到上帧陈旧值。\u000a\u000a其他:\u000a- 逆向车绕行策略直接 ALLOW: pulled_over 相对自车参考线判, 会把侵入自车道\u000a 的逆向车误判为\"居中\"→跟一辆迎面来的车。\u000a- 走廊左钳与堵塞判据统一用 TrailerAwareHalfWidths(挂车感知/左右非对称),\u000a 该函数上移至 Init 之前, 保持各处 footprint 口径一致。\u000a- GetBoundaryFromS 内是 CHECK(!empty()), 新增调用在断面循环之前, 加空守卫。\u000a- 灰度 use_meeting_borrow_yield_(cfg_func_sw v14), 观测日志 LOG_EVERY_N 降频。\u000a", "date" : "2026-07-23 15:34:21 +0800", "id" : "58317cd215b7ab93b84dab9a684c06666a8dacec", "msg" : "feat: 会车逆向道窄时不借道让行(纯逻辑判场景+走廊左界渐变钳)", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/decision/obstacle_decision.hpp" }, { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.hpp" }, { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.cpp" }, { "editType" : 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"f7fe9b1838d7deb33e6534ab396cc6efefd484ad", "timestamp" : 1785222216000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "build: Debug 调试信息拆到 .dwo, 链接改用 lld\u000a\u000a-fstandalone-debug 让每个 .o 都带完整调试信息, 全量产出 819 个 .o 共 4.7GB、\u000a可执行文件各 1.35GB, 结果 ccache 装不下一次全量(命中率仅 17%), 链接也很慢。\u000a追加 -gsplit-dwarf 把调试信息拆到独立 .dwo, 不再进 .o 和最终二进制。两个 flag\u000a各管一件事(前者决定类型完整性, 后者决定存放位置), 必须同时保留, 调试能力不变。\u000a改动后 .o 总量降到 1.25GB, pnc_node 降到 768MB。\u000a\u000a链接器在探测到 lld 时改用 lld, 链接阶段耗时占比从瓶颈降到 0.3%。lld 是独立包\u000a不随 clang 一起装, 所以先问编译器能否使用再启用, 没装的机器回落系统默认链接器。\u000a\u000a注意: .dwo 按相对路径记录, 调试器需从 build/ 目录启动才能定位。\u000a", "date" : "2026-07-28 15:03:36 +0800", "id" : "f7fe9b1838d7deb33e6534ab396cc6efefd484ad", "msg" : "build: Debug 调试信息拆到 .dwo, 链接改用 lld", "paths" : [ { "editType" : "edit", "file" : "CMakeLists.txt" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "scenarios/task_condition_evaluator.cpp" ], "commitId" : "d7c66ed883d6c439a310ea0f7569991cf1bf51ef", "timestamp" : 1785229446000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用\u000a", "date" : "2026-07-28 17:04:06 +0800", "id" : "d7c66ed883d6c439a310ea0f7569991cf1bf51ef", "msg" : "fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用", "paths" : [ { "editType" : "edit", "file" : "scenarios/task_condition_evaluator.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/plan/path_direction_data.cpp" ], "commitId" : "b2f9bbd3d848b5a7587239e398db547471e9b00c", "timestamp" : 1785233883000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 锁站方向判定增加终点在车后倒车分支\u000a\u000a终点在车后且对齐余量超过 1m 时直接置为倒车方向, 避免落到\u000areq_step_align 分支后按前进方向规划。\u000a", "date" : "2026-07-28 18:18:03 +0800", "id" : "b2f9bbd3d848b5a7587239e398db547471e9b00c", "msg" : "feat: 锁站方向判定增加终点在车后倒车分支", "paths" : [ { "editType" : "edit", "file" : "data/plan/path_direction_data.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/map/reference/center_line.cpp" ], "commitId" : "555643794eb3726b03b06138afd7b43fecee2241", "timestamp" : 1785237895000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 途径点匹配改按横向距离绝对值取最近中心线\u000a\u000a引桥/岸桥/park/buffer/lane_change 五处筛选中心线时, min_l 初值为 DBL_MAX\u000a却用带符号的 l() 比较, 实际选出的是横向偏移最负(最靠右)的那条, 而非横向\u000a最近的。外层已按 fabs(l()) < 2.0 过滤, 内层比较与之矛盾。改为与\u000aUpdateDestAttr / UpdateCurrentAttr 一致的 fabs 写法。\u000a", "date" : "2026-07-28 19:24:55 +0800", "id" : "555643794eb3726b03b06138afd7b43fecee2241", "msg" : "fix: 途径点匹配改按横向距离绝对值取最近中心线", "paths" : [ { "editType" : "edit", "file" : "data/map/reference/center_line.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/map/reference/center_line.hpp", "data/plan/switch_data.hpp", "data/map/reference/center_line.cpp" ], "commitId" : "55345aae591d63ec186a92ce017ada334467c55c", "timestamp" : 1785240143000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)\u000a\u000a判定:\u000a- 变道左右邻的 distance 跨越数不同, 原 check_range 被右邻覆盖后左侧实线\u000a 检查也复用它, 拆成 left/right 各算各的\u000a- 引桥途径点 s 只算不用, 结果取到最后一个而非最近的, 补上筛选\u000a- seaside/lane_change 比较用 start_match.s() 却存 end_match.s(), 下一轮\u000a 比较基准错位, 统一回 start\u000a\u000a越界与崩溃防护:\u000a- RelationOfRefByIdx 两个重载空容器时 size()-1 下溢, 后面 CHECK 必失败,\u000a 改优雅返回 INT32_MAX(46 处调用点已按此值处理)\u000a- UpdateSwitchAttr 开头补 empty() 早退, 原先 back() 无保护\u000a- JudgeIsInBlackLane 查的是邻车道, 补 idx==0 查左邻的边界判断\u000a- GetBlackLaneDistanceFromEgo 的 count 是变道相对关系可为负, idx+count\u000a 走 size_t 会下溢, 改 int64_t 中转后校验\u000a- SwitchData::curr_lane_idx_/target_lane_idx_ 无类内初始化也不在构造列表,\u000a 补 SIZE_MAX\u000a\u000a冗余拷贝(均为每帧热路径, CenterLine 含完整点列):\u000a- UpdateBlackLaneDistance 深拷贝整个 MltCenterLines\u000a- GetBlackLaneDistanceFromEgo 首次 at(idx) 拷贝立即被覆盖\u000a- JudgeIsInBlackLane 按值拷贝邻车道\u000a\u000a死代码:\u000a- 136 行注释掉的 lane_change 旧实现\u000a- LaneChangePtIsInCurPath(条件括号错位致语义反转, 仅注释块内调用)\u000a- buffer 途径点在 center_line 侧的链路(赋值处早已注释, 无消费者);\u000a AppReaction::buffer_passing_pts_ 仍在用, 未动\u000a", "date" : "2026-07-28 20:02:23 +0800", "id" : "55345aae591d63ec186a92ce017ada334467c55c", "msg" : "fix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)", "paths" : [ { "editType" : "edit", "file" : "data/map/reference/center_line.hpp" }, { "editType" : "edit", "file" : "data/map/reference/center_line.cpp" }, { "editType" : "edit", "file" : "data/plan/switch_data.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "hmi/draw/draw_path_boundary.hpp", "hmi/widget/pnc_mat_shared.cpp", "hmi/draw/draw_path_boundary.cpp", "hmi/draw/draw_all.cpp" ], "commitId" : "5b27175f0138069d8f6b7d25750b6511d52adb1a", "timestamp" : 1785246274000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: HMI 显示 road boundary 的 shift type\u000a\u000a在 road boundary 左边界点旁标注每段的 shift type, 类型跳变处各标一个,\u000a同类型连续断面不重复标。\u000a\u000a文字画在 cv::flip 之后(flip 前画会上下颠倒), 沿用 DrawReverseApproach\u000a的两段式: Draw 阶段只缓存 UTM 锚点, DrawText 做坐标变换并出字。\u000a", "date" : "2026-07-28 21:44:34 +0800", "id" : "5b27175f0138069d8f6b7d25750b6511d52adb1a", "msg" : "feat: HMI 显示 road boundary 的 shift type", "paths" : [ { "editType" : "edit", "file" : "hmi/draw/draw_path_boundary.cpp" }, { "editType" : "edit", "file" : "hmi/draw/draw_path_boundary.hpp" }, { "editType" : "edit", "file" : "hmi/draw/draw_all.cpp" }, { "editType" : "edit", "file" : "hmi/widget/pnc_mat_shared.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/common/trajectory_point.cpp" ], "commitId" : "6d93e3a9c729dba971bb8b40f0600f479bffc180", "timestamp" : 1785300131000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用\u000a\u000aMatchPtByt/MatchPtByS/MatchMultiPtsByMultiS 都把 [0,1] 的比例传给\u000aInterpPtByLinearS, 而后者第三参是绝对弧长, 于是恒命中其 \"p0.s() >= s - 0.01\"\u000a早退分支 —— 轨迹中段 s 是几十米量级、恒大于比例值, 插值从未真正生效, 取点一直\u000a退化成按离散点向下取整。\u000a\u000a- MatchPtByt: 把时间比例换算成对应弧长再传\u000a- MatchPtByS / MatchMultiPtsByMultiS: 本就按 s 查, 直接传 s\u000a- MatchMultiPtsByMultiS: 顺带修解引用 end() 的 UB 与 l/u 写反(该函数无调用方)\u000a- InterpPtByLinearS: z_ 是被重载的字段(存挂车横摆角, 另有 10000 终止哨兵),\u000a 插值真正生效后不能再盲目 lerp —— 任一端越界或两端相差超过 pi 时取下界点\u000a\u000a影响面较大: obstacle 预测采样、DP 动态代价、走廊 s<->t 反查、lattice 停车轨迹、\u000acloud_trajectory 都从\"取整\"变为\"真插值\", 数值会有变化, 目前只验证过变道场景。\u000a", "date" : "2026-07-29 12:42:11 +0800", "id" : "6d93e3a9c729dba971bb8b40f0600f479bffc180", "msg" : "fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用", "paths" : [ { "editType" : "edit", "file" : "data/common/trajectory_point.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "Testing/pjpo_case_test.cpp", "data/plan/start_point_data.cpp", "algorithm/plan/pjpo.cpp", "tasks/deciders/lat_decider/switching_bounds_decider.cpp", "algorithm/plan/pjpo.hpp", "tasks/plan/pjpo_task.cpp" ], "commitId" : "d22a1c8ac945ee70b47bf11a0263366d995c84f9", "timestamp" : 1785300165000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲\u000a\u000a一、变道横移走不完(车挪 1~3m 就停住, 路径起点段变直)\u000a车的横移速率 ≈ init_dl × v(每帧只执行路径最前约 0.5m), 所以起点斜率一旦被压到\u000a0, 路径形状再对车也不动。两处把它压到 0:\u000a- 起点 dl 在变道场景恢复硬约束(新增 soften_init_dl)。dcf2390c1 为治 side-pass\u000a 的起点 kappa kink 把 init_dl 软化, 但变道恰恰需要起点持续保持朝目标的横移\u000a 斜率, 软化后 QP 每帧把它拉回 0(kSoftInitPenalty 相对 l_ref 权重极低, 拉回几乎\u000a 无代价), 实测逐帧 0.113 -> 0.0137 -> 0.00065。\u000a- kInitDlOutwardMax 的\"向外\"判据改为相对 path_reference_l。原按 init_l 符号判,\u000a 会把 PREPARE 段\"正朝目标车道靠拢\"误判成向外漂移(实测 ref_l=1.57/init_l=0.82/\u000a init_dl=0.06), 起点斜率被夹死在 0.05。\u000a另新增 BoostLaneChangeInitDl: QP 每帧的解从起点起 dl 就单调递减, 而车只执行起点\u000a段, 构成一阶惯性环节(指数收敛、尾巴无限长), 只能在入口给定横移速率下限打破。\u000a\u000a二、跨两车道路径扭曲(变一道正常, 变两道路径扭、控制跟不住而触发曲率限速)\u000a- 变道 dl 上限放宽到 0.8。单车道 S 曲线峰值仅 0.26, 跨两车道需 ~0.5, 恰好顶死\u000a ±0.5 上限, QP 在约束边界上滑动导致解非光滑。用同一帧 dump 离线扫描, dl 拐点\u000a 数与触限程度严格对应: 0.3->7, 0.5->3, 0.8->1; 放宽后实际只用到 0.505。\u000a- config_local 的 lane_change_weight.dl_weight 20->5000(不在本仓库, 需单独同步)\u000a 压 dl 峰值治\"急\": 峰值 0.42->0.30, 拐点 2->0, 收敛距离 18m->44.5m。\u000a\u000a三、连带修复\u000a- init_dl 为硬约束时补上夹进 dl 边界。piecewise_jerk_problem 把 dx[0] 上下界同设\u000a 为 init 值(硬等式), 与 dx 的 box 约束矛盾时 OSQP 直接 primal infeasible, 而变道\u000a 关闭了 all_soft 兜底, 会一路掉到 last_path fallback。\u000a- 起点 dl/ddl 增加 Frenet 直传(参考线几何未变时从上一帧解按 s 取), 绕开 Cartesian\u000a 往返; 失败自动回退反算。\u000a- PjpoConstraintOptions 序列化补 enable_all_soft_fallback(版本 2->3)。生产置 false\u000a 而结构体默认 true, 之前从不入档, 离线回放会多挂 all_soft 档致复现不可信。\u000a- 新增离线工具 AnalyzeDlBoundEffect(扫 dl 上限/权重, 打印 opt_dl 曲线与拐点数)与\u000a SidePassOutwardClampRegression(比对新旧向外判据并校验解是否退化)。\u000a\u000a验证: 实车变道正常、曲率连续; side-pass 回归 72 例 0 退化, 其中 1 例判据差异是对\u000a旧判据误夹的纠正(车朝走廊中点走却被当成向外漂移)。\u000a", "date" : "2026-07-29 12:42:45 +0800", "id" : "d22a1c8ac945ee70b47bf11a0263366d995c84f9", "msg" : "fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲", "paths" : [ { "editType" : "edit", "file" : "data/plan/start_point_data.cpp" }, { "editType" : "edit", "file" : "algorithm/plan/pjpo.cpp" }, { "editType" : "edit", "file" : "tasks/deciders/lat_decider/switching_bounds_decider.cpp" }, { "editType" : "edit", "file" : "algorithm/plan/pjpo.hpp" }, { "editType" : "edit", "file" : 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