[Jenkins]Jenkins
Started 16 hr ago
Took 40 min

Build #420 (Jul 5, 2026 9:58:37 AM)

Changes
  1. fix: add smooth_mode opt (details)
  2. fix: smooth mode optimization (details)
  3. fix: cancel wbca smooth_mode for the first frame (details)
  4. feat: Keb: 1. 引入clipper2几何运算库处理多边形的膨胀腐蚀操作。解决之前的膨胀逻辑对某些特殊形状处理存在错误的问题。2. 将最近点膨胀代价升级为sdf碰撞检测代价，鲁棒性更高收敛更快。3. 前轮转向约束使用softplus函数建立梯度平滑的约束，解决在极限转弯场景优化时梯度跳变的问题。 (details)
  5. fix: curature over limit stop optimization (details)
  6. chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 (details)
  7. refactor: SSEP: 重构OGM构建流程 (details)
  8. feat: 添加skills到.gitignore以忽略相关文件 (details)
  9. fix: step align状态下，吊具防护，montion状态机切换的bug (details)
  10. fix:修复进充电桩，场景适配错误的bug (details)
  11. fix: Keb: 删除未用到的“BuildKebOGM”方法 (details)
  12. feat(hmi): 新增路径曲线面板 path_curve_detail (details)
  13. refactor:优化引导线曲率跳变的bug (details)
  14. fix: 更新 clang-format 命令的使用说明和检查逻辑 (details)
  15. feat: 添加软约束以支持初始状态的灵活性 (details)
  16. fix: 注释掉停止车辆的初始化日志输出 (details)
  17. fix: Keb: 增加IMV后方碰撞检测距离 (details)
  18. feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 (details)
  19. feat: 添加CloudTrajectoryPoint的赋值运算符重载 (details)
  20. feat: 注释掉OgmCollisionPos函数中的更新检查 (details)
  21. feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 (details)
  22. feat: 注释掉OgmCollisionPos函数中的更新检查 (details)
  23. fix:合并的bug (details)
  24. feat: 重构障碍物风险评估器，另外添加 横路不进行 龙门吊风险限速的功能。 (details)
  25. fix: add lane_change_path_task v2 (details)
  26. refactor:优化看门狗功能 (details)
  27. fix: 移除不必要的等待调用以优化重置过程 (details)
  28. fix:西联上下引桥 不创建双黄线约束 (details)
  29. fix: SSEP: 修复新版本优化偶发输出异常的问题 (details)
  30. feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 (details)
  31. feat: SSEP: 自卸车/tractor的多段倒车和精确倒车可以接受extra param来设置尾部拉直距离 (details)
  32. fix:修复变道完成后目标车道切换错误的bug (details)
  33. fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ (details)
  34. feat: 添加堆高机靠近是否切换状态机的开关参数 (details)
  35. refactor: 1.关闭起始变量的收缩。2.车辆停止时，修改dl和ddl 3.关闭全软约束 (details)
  36. feat: <大谢>进堆场机场忽略终点约束 (details)
  37. refactor:优化出堆场 + 短直线+ 进堆场场景的搜索 (details)
  38. feat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 (details)
  39. fix:快照播放崩溃的bug (details)
  40. fix:修复停止线赋值的bug (details)
  41. fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题 (details)
  42. fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划 (details)
  43. refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性 (details)
  44. feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作 (details)
  45. fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败 (details)
  46. fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败 (details)
  47. fix: 大榭普通堆高机场地放宽终点约束距离, 修复进堆场 SSEP 搜索失败 (details)
  48. fix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。 (details)
  49. fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 (details)
  50. feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示 (details)
  51. feat: PJPO 增加软曲率约束并优化起点处理 (details)
  52. feat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理 (details)
  53. feat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算 (details)
  54. feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理 (details)
  55. feat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合 (details)
  56. feat: 变道 OGM 碰撞检测点 HMI 标红可视化 (details)
  57. 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 (details)
  58. feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑 (details)
  59. fix:  Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径 (details)
  60. feat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离 (details)
  61. 重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域 (details)
  62. 修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 group (details)
  63. feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果 (details)
  64. 场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 (details)
  65. BTActRunPlanner: 进入海侧路口区域时退出常规 planner (details)
  66. feat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题 (details)
  67. fix: imv wbca crash bug (details)

Started by user wangshaojiang

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