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换向节点的 pinch 控制下一条实际行驶边，不应因停车轮角调整而放宽动态上限。
统一单层和双层 KEB 建图，保留显式停车转向的运动学语义。
新增正反向切换、两类建图及实际优化求解的自动化回归。
验证：完整单测 387 通过、13 跳过；补充 3 个共享优化器出库案例通过。
2026-10-19 13:25:25 +0800f1c5d10c8f1d064bf9fc555a56383b39887ee8bafix: 约束拖挂换向后的首段曲率变化editssep/test/tractor_trailer_kinematic_weight_test.cceditdocs/ssep/parking_staged_optimization.mdeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
- ssep/test/ssep_planner_test.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/evaluator/trailer_search_guide.hssep/test/trailer_search_guide_test.ccssep/coarse_search/evaluator/trailer_search_guide.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdocs/ssep/trailer_search_guide.md0b2ddc31c1cafaf7639f99afe0899a9b07b232a91792387538000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持引导线起点位姿软偏好
新增默认关闭的 trailer_search_guide_prefer_entry_pose，按原始引导首点位置、
车头及挂车朝向调整搜索启发和可行候选评分，保留原任务区域硬约束及失败回退。
补充严格布尔解析、裁剪后锚点保持、位置与姿态软评分自动化测试。
验证：完整单测 387 通过、13 跳过；津西现场包和历史场景 CPU/GPU 回归完成。
2026-10-19 13:25:38 +08000b2ddc31c1cafaf7639f99afe0899a9b07b232a9feat: 支持引导线起点位姿软偏好editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/test/ssep_planner_test.cceditdocs/ssep/trailer_search_guide.mdeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/evaluator/trailer_search_guide.heditssep/test/trailer_search_guide_test.cceditssep/coarse_search/evaluator/trailer_search_guide.cc
- ssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/test/ssep_planner_test.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdocs/ssep/trailer_search_guide.mdc513d44b41ced9f2ef8444e6e9beea1e9588b42c1792387551000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优先搜索 GPU 近距离换向并验证回退
有匹配引导时先在参考点附近搜索，完整优化和验收成功后才采用，失败再放宽。
近点、Beam 和兼容搜索共用简单搜索预算，保留调整兜底和统一请求 deadline。
补充 6 项调度自动化测试，覆盖优化或验收拒绝、预算耗尽、队列清理及跨请求恢复。
验证：完整单测 387 通过、13 跳过；37 次真实 GPU 回放完成，保留既有失败记录。
相邻曲率平滑权重实验出现夹角回归，暂不纳入本次提交。
2026-10-19 13:25:51 +0800c513d44b41ced9f2ef8444e6e9beea1e9588b42cfix: 优先搜索 GPU 近距离换向并验证回退editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditdocs/ssep/trailer_search_guide.mdeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/test/ssep_planner_test.cc
- Testing/search_decider_lifecycle_test.cpptasks/deciders/search_decider/search_decider_lifecycle.cppdata/plan/ssep_task_context.hpptasks/deciders/search_decider/search_decider_lifecycle.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/plan/ssep_task_context.cppdocs/ssep_search_lifecycle.mdf2c4987bcfb5a1a4e1bb5e679fc1567aec4e2ac21792392911000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复极限变道任务交接时重复搜索
堆场同一轮极限变道接收新任务时，校验方向、车道、目的地及已生效搜索，
允许沿用有效路径和原完成终点，避免重搜不断前移变道完成点。
使用 center_line_info 的目标中心线校验旧终点范围和位姿，核对索引与
车道 ID，支持跨路段中心线及索引重排；失效、取消和真实目标变化仍清理。
保留人工重搜入口，补充连续任务、完成退出及 23 类失配等回归。
更新生命周期文档和数据头审计生成哈希。
验证：pnc_reference_line_replan_test 419 项通过、61 项跳过、0 失败；
pnc_replayer 分布式编译通过，生成物和 Proto 边界检查通过。
未执行原 bag 完整算法回放或实车验收。
2026-10-19 14:55:11 +0800f2c4987bcfb5a1a4e1bb5e679fc1567aec4e2ac2fix: 修复极限变道任务交接时重复搜索editdocs/ssep_search_lifecycle.mdeditdata/plan/ssep_task_context.cppeditdata/plan/ssep_task_context.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditTesting/search_decider_lifecycle_test.cppedittasks/deciders/search_decider/search_decider_lifecycle.hppedittasks/deciders/search_decider/search_decider_lifecycle.cpp
- replayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/base_stop_line_filter.cppTesting/continuous_junction_replan_test.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/base_stop_line_filter.hppdocs/ssep_search_lifecycle.md7fde9d90b56c90cbc90c2cd660f056d2247a455e1792395507000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复连续进堆场因参考线未创建而漏触发搜索
REPLAN_DECIDER 早于 CREATE_REFERENCE_LINE 执行，原有连续入场判断读取
尚未生成的当前帧参考线，导致第二个入场路口未触发搜索并持续沿用旧目标。
从当前局部地图重新选线并构造临时参考线，按当前地图位置匹配。
复用原停止线筛选规则，完整保留相邻路段停止线和连续路口跳过语义。
不改写当前帧参考线，保留禁搜、同路口及已有请求的抑制条件。
调整连续入场回归以覆盖真实任务顺序，补充旧参考线干扰及目标几何缺失；
同步生命周期说明和数据头文件审计哈希。
验证：连续入场专项 48 项通过；相关回归共 593 项通过、61 项跳过、0 失败。
pnc_node 构建及生成文件、Proto 兼容检查通过。
本地复现日志确认 1010 -> 1008 触发第二次搜索，SSEP success 后 KEB 继续优化。
2026-10-19 15:38:27 +08007fde9d90b56c90cbc90c2cd660f056d2247a455efix: 修复连续进堆场因参考线未创建而漏触发搜索editdata/ssep/base_stop_line_filter.cppedittasks/deciders/other_decider/replan_decider.cppeditTesting/continuous_junction_replan_test.cppeditdata/ssep/base_stop_line_filter.hppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditdocs/ssep_search_lifecycle.md
- ssep/keb_optimizer/control_space_path_adapter.ccssep/test/control_space_refiner_test.ccssep/keb_optimizer/control_space_path_adapter.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/test/tractor_trailer_kinematic_weight_test.ccssep/keb_optimizer/continuous_path_sampling.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hcf505c56ed40fadd4d84e1dd7d2c7664e159e4241792401008000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 保留轨迹优化重采样后的原始锚点映射
为连续增密和控制空间重采样提供原节点到输出节点的映射，明确已删除内点无映射。
在候选验收、拒绝回退和最终输出之间同步映射，重建问题时清理缓存。
补充连续增密、映射恢复及前进和倒车控制空间成功候选测试。
验证：相关规划与优化测试 58 项、控制空间测试 10 项全部通过。
2026-10-19 17:10:08 +0800cf505c56ed40fadd4d84e1dd7d2c7664e159e424feat: 保留轨迹优化重采样后的原始锚点映射editssep/keb_optimizer/control_space_path_adapter.cceditssep/keb_optimizer/control_space_path_adapter.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/tractor_trailer_kinematic_weight_test.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/continuous_path_sampling.heditssep/test/control_space_refiner_test.cc
- ssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/test/ssep_planner_test.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc06b4571850370434ebf0fc83fd8db0d83191f6021792401051000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 按倒车优先级搜索首个途经段并支持失败回退
仅起点至首个未到达途经点依次尝试纯倒车、前进调整后倒车、倒车前进再倒车。
后续搜索或整体优化失败时尝试下一档，共享请求预算并恢复锚点与粗路径状态。
完整候选检查精确换向次数，优化后通过原始锚点映射保持首段方向拓扑。
补充窄走廊、后续段自由调整、过期预算及优化失败后回退和重复规划测试。
验证：相关 CPU 测试共 68 项通过；单段泊车正式回归集 2/2 通过。
津西指定现场场景由三段调整为前进约 0.88 米后倒车，共两段。
2026-10-19 17:10:51 +080006b4571850370434ebf0fc83fd8db0d83191f602feat: 按倒车优先级搜索首个途经段并支持失败回退editssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/test/ssep_planner_test.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.h
- Testing/wbca_smooth_continuity_test.cppdata/dp_poly_path/dp_road_graph.cpptasks/plan/path_optimization_task.hpptasks/plan/path_optimization_task.cppdata/dp_poly_path/dp_road_graph_test.cppdb5bbd3ca87894704da4bd242aa1a0d59998c85a1792401373000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 对齐绕行搜索与优化范围以修复末端窄边界
按当前走廊覆盖生成 DP 采样并预留车体余量，修复历史采样删除和末段续采样。将正常优化及搜索失败平滑降级限制到实际 DP 路径，并在采用异步结果前校验尾部覆盖，避免使用搜索范围外的错误边界。
补充正倒车范围、历史缩短、远端窄通道与 WBCA 覆盖测试。验证 41 项 DP/走廊测试、36 项 WBCA 测试，以及 AT001 场景 460 帧回放和两个关键帧独立 WBCA 求解。
2026-10-19 17:16:13 +0800db5bbd3ca87894704da4bd242aa1a0d59998c85afix: 对齐绕行搜索与优化范围以修复末端窄边界editTesting/wbca_smooth_continuity_test.cppeditdata/dp_poly_path/dp_road_graph.cppeditdata/dp_poly_path/dp_road_graph_test.cppedittasks/plan/path_optimization_task.cppedittasks/plan/path_optimization_task.hpp
- Testing/compact_driving_corridor_restore_test.cppdocs/pnc_algorithm_replay/dp_corridor_performance.mdc00a3349922a8acfc2a7db6a0c19f096407979691792401383000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加绕行采样重建与关键帧优化回放验证
支持按当前走廊显式重建 DP 采样，避免复用录制采样掩盖范围修改。增加指定帧独立 WBCA 优化和结果导出，等待异步计算完成并断言成功。文档注明额外准备开销和独立回放的验证范围。
2026-10-19 17:16:23 +0800c00a3349922a8acfc2a7db6a0c19f09640797969test: 增加绕行采样重建与关键帧优化回放验证editTesting/compact_driving_corridor_restore_test.cppeditdocs/pnc_algorithm_replay/dp_corridor_performance.md
- ssep/test/local_regression/tt_ordered_first_stage_cpu_manifest.tsvssep/test/local_regression/tt_ordered_first_stage_quality.jsonssep/test/local_regression/README.mdssep/test/local_regression/tt_ordered_first_stage_cases.json0afd1a71d1ca0eb386922263d4672f9b3fd5f9e21792401629000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 将津西首段前进调整场景纳入 CPU 回归集
登记 AT001 在 2026-10-16 17:09:43 的原始场景，固定共享目录路径和源 SHA。
验收 CPU 规划成功、前进后倒车两段，保留原始参数且不固定前进调整距离。
补充来源、规则边界及回归入口说明，历史录制轨迹仅作为参考。
验证：通用准备入口自动发现新增案例，正式 CPU 回放 1/1 通过并生成 HTML 对照报告。
2026-10-19 17:20:29 +08000afd1a71d1ca0eb386922263d4672f9b3fd5f9e2test: 将津西首段前进调整场景纳入 CPU 回归集addssep/test/local_regression/tt_ordered_first_stage_cpu_manifest.tsvaddssep/test/local_regression/tt_ordered_first_stage_quality.jsoneditssep/test/local_regression/README.mdaddssep/test/local_regression/tt_ordered_first_stage_cases.json
- Testing/reference_line_replan_test.cpptasks/other_tasks/create_guide_line.cppTesting/CMakeLists.txtTesting/compact_driving_corridor_restore_test.cppdata/plan/guide_line.cppc9739fb739606828d3e2dfb535666fe02bdd13f61792404597000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持散货搜索引导线的历史路径连续性
首段前进搜索沿匹配的历史优化路径构造前缀，并按当前参考线补齐车道属性和重新计算接缝里程。搜索等待期间保留并重匹配历史参考线，避免回放重建丢失引导线。增加历史前缀、等待跨帧和实包几何输出验证。
2026-10-19 18:09:57 +0800c9739fb739606828d3e2dfb535666fe02bdd13f6fix: 保持散货搜索引导线的历史路径连续性editTesting/compact_driving_corridor_restore_test.cppeditdata/plan/guide_line.cppeditTesting/reference_line_replan_test.cppedittasks/other_tasks/create_guide_line.cppeditTesting/CMakeLists.txt
- tasks/deciders/lat_decider/path_bounds_decider.cppTesting/reference_line_replan_test.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppdata/boundary/driving_corridor.cppTesting/compact_driving_corridor_restore_test.cppab9103317edd70369934796c8381d2bf646bef731792404608000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止散货搜索过渡阶段访问空道路边界
道路边界为空时清除旧走廊及路径边界并返回失败。过渡阶段传播任务错误、清理旧规划输出并保持当前阶段，避免断言崩溃和提前切换。增加空边界及阶段错误回归，并支持实包验证至约束生成任务。
2026-10-19 18:10:08 +0800ab9103317edd70369934796c8381d2bf646bef73fix: 防止散货搜索过渡阶段访问空道路边界editscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditdata/boundary/driving_corridor.cppeditTesting/compact_driving_corridor_restore_test.cppedittasks/deciders/lat_decider/path_bounds_decider.cppeditTesting/reference_line_replan_test.cpp
- data/plan/ssep_data.cppproto/plan_data.protoreplayer/scene_data/generated/compact_exact_numeric_visitor.cppdata/app/fsm/motion_fsm/motion_fsm.cppdata/plan/ssep_data.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/scenarios/tractor_trailer_exit_parking_spot_planner.hdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdconfig/config_truck/ssep_port_scenarios_jinxi.yamlreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cppreplayer/scene_data/full_proto_custom_encoder.cppreplayer/scene_data/generated/plan_frame_encoder.cppdata/ssep/ssep_ec.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/compact_numeric_policy.yamlTesting/routing_map_guard_test.cppssep/test/ssep_planner_test.ccplan/prepare/prepare_state.cppTesting/parking_pass_progress_test.cppreplayer/scene_data/compact_numeric_leaf_contract.csvreplayer/scene_data/plan_frame_field_roles.csvssep/ssep_planner.ccreplayer/scene_data/generated/scene_replay_api_descriptor.pbTesting/ssep_scenario_config_lifecycle_test.cppreplayer/scene_data/generated/plan_frame_descriptor.pb63c0ed2e19d37b2ea950c8c5fa2a932aec23f5811792413281000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持按位置强制挂车先倒车再前进出库
新增 require_initial_reverse 配置，强制通过倒车后前进的搜索与优化验收，
无解时不回退纯前进，历史重优化不能绕过方向约束。
按任务持久化倒车完成状态，完成实际换向后停止重复倒车；通过原始路径
投影检查执行进度，避免短倒车段在起点直接切换，同时保留安全停车及超调检查。
同步 Full/Compact 编解码、字段合同和津西指定坐标配置。
验证：329 项相关自动化测试及 3 个 CPU 场景回放通过，生成与兼容性检查通过。
2026-10-19 20:34:41 +080063c0ed2e19d37b2ea950c8c5fa2a932aec23f581feat: 支持按位置强制挂车先倒车再前进出库editTesting/ssep_scenario_config_lifecycle_test.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/test/ssep_planner_test.cceditplan/prepare/prepare_state.cppeditreplayer/scene_data/compact_numeric_leaf_contract.csveditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditreplayer/scene_data/full_proto_custom_encoder.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/plan_frame_encoder.cppeditTesting/routing_map_guard_test.cppeditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditproto/plan_data.protoeditconfig/config_truck/ssep_port_scenarios_jinxi.yamleditTesting/scene_replay_foundation_test.cppeditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditdata/app/fsm/motion_fsm/motion_fsm.cppeditdata/ssep/ssep_ec.cppeditssep/ssep_planner.cceditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditTesting/parking_pass_progress_test.cppeditdata/plan/ssep_data.hppeditdata/plan/ssep_data.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/compact_numeric_policy.yamleditreplayer/scene_data/compact_custom_field_proto_codec.cppeditreplayer/scene_data/generated/compact_exact_numeric_visitor.cpp
- ssep/test/local_regression/README.mdssep/test/local_regression/tt_exit_feasibility_manifest.tsvssep/test/local_regression/tt_exit_forward_only_overlay.jsond41a19828918cf9ca4102ae790bd5cf6981407021792413291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 固定津西直接前进出库位置的回归例外
将 2026-09-30 10:29:18 原版与仅前进派生场景统一配置为一段前进，
显式关闭初始倒车和倒车调整，避免批量倒车优先实验覆盖人工确认规则。
在回归说明中登记位置及例外要求，保留录制输入原样。
验证：两份输入 CPU 回放均通过，输出约 47.7 米的一段前进路径。
2026-10-19 20:34:51 +0800d41a19828918cf9ca4102ae790bd5cf698140702test: 固定津西直接前进出库位置的回归例外editssep/test/local_regression/tt_exit_feasibility_manifest.tsvaddssep/test/local_regression/tt_exit_forward_only_overlay.jsoneditssep/test/local_regression/README.md
- data/plan/ssep_data.cppTesting/routing_map_guard_test.cppssep/test/ssep_planner_test.ccTesting/parking_pass_progress_test.cppconfig/config_truck/ssep_port_scenarios_jinxi.yamlssep/test/local_regression/README.mdssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/ssep_planner.ccdata/ssep/ssep_ec.cppTesting/ssep_scenario_config_lifecycle_test.cppssep/test/local_regression/tt_exit_forward_only_overlay.jsoncb853a183306ecdff3da4e1e3653dd405d06582a1792414244000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持挂车出库优先倒车及无解前进回退
新增 prefer_initial_reverse，先验收倒车再前进路径，无解后尝试纯前进，
共享总预算并为回退预留时间；保留 require_initial_reverse 的严格语义。
同步任务执行保护、历史重规划和津西模板参数，保留直接前进位置例外。
验证：448 项自动化测试及 3 个实际 CPU 场景回放全部通过。
2026-10-19 20:50:44 +0800cb853a183306ecdff3da4e1e3653dd405d06582afeat: 支持挂车出库优先倒车及无解前进回退editconfig/config_truck/ssep_port_scenarios_jinxi.yamleditssep/ssep_planner.cceditTesting/parking_pass_progress_test.cppeditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditssep/test/ssep_planner_test.cceditssep/test/local_regression/README.mdeditdata/plan/ssep_data.cppeditssep/test/local_regression/tt_exit_forward_only_overlay.jsoneditTesting/routing_map_guard_test.cppeditdata/ssep/ssep_ec.cppeditTesting/ssep_scenario_config_lifecycle_test.cpp
githttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenran5361http://159.27.114.184:8080/jenkins/job/orin-module-slave32/5361/