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+0800ef8f093ceff58fa2b79d1a3667d0a4f34f3e28a3feat_out:增加反馈pd类型editperipheral_msgs/msg/PeripheralOperateStates.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/RecordTransferResult.msgcloud_msgs/msg/RecordTransferCmd.msg303eb68645d43fc7e1695415feada4be3a0feb4b1785917135000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加全量上传topic 2026-08-05 16:05:35 +0800303eb68645d43fc7e1695415feada4be3a0feb4bfeat_out:增加全量上传topicaddcloud_msgs/msg/RecordTransferResult.msgeditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/RecordTransferCmd.msgperipheral_msgs/msg/PeripheralOperateState.msgcloud_msgs/msg/LedMsg.msg5b63832064422758474bde74403392be05d8884d1786068471000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:反馈字段完善 2026-08-07 10:07:51 +08005b63832064422758474bde74403392be05d8884dfeat_out:反馈字段完善editcloud_msgs/msg/LedMsg.msgeditperipheral_msgs/msg/PeripheralOperateState.msgperipheral_msgs/msg/PeripheralOperateStates.msgbd4531ee12d21ff202fbf4e7bacaa08e5eb98b0b1786103564000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加反馈pd类型 2026-08-07 19:52:44 +0800bd4531ee12d21ff202fbf4e7bacaa08e5eb98b0bfeat_out:增加反馈pd类型editperipheral_msgs/msg/PeripheralOperateStates.msgperipheral_msgs/msg/PeripheralOperateState.msgcloud_msgs/msg/LedMsg.msgcf8ef577bbb6bbf96346211bd8eb73585760ad5a1786103693000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:反馈字段完善 2026-08-07 19:54:53 +0800cf8ef577bbb6bbf96346211bd8eb73585760ad5afeat_out:反馈字段完善editcloud_msgs/msg/LedMsg.msgeditperipheral_msgs/msg/PeripheralOperateState.msgtos_msgs/msg/PeripheralCmd.msg5052114869f5d8c0300c8a9a408ae1dc1ec79def1786362035000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:字段修改 2026-08-10 19:40:35 +08005052114869f5d8c0300c8a9a408ae1dc1ec79deffeat_out:字段修改edittos_msgs/msg/PeripheralCmd.msgtos_msgs/msg/PeripheralCmd.msgadeecd3038f4c7414651bda89bcee43953e37fe91786432692000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加6档反馈 2026-08-11 15:18:12 +0800adeecd3038f4c7414651bda89bcee43953e37fe9feat_out:增加6档反馈edittos_msgs/msg/PeripheralCmd.msgtos_msgs/msg/PncConfiguration.msgtos_msgs/CMakeLists.txttos_msgs/msg/AccessLine.msg81d4f7a849ff697cc58957c3d6260c82de350c2e1786606338000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 2026-08-13 15:32:18 +080081d4f7a849ff697cc58957c3d6260c82de350c2etos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义edittos_msgs/msg/PncConfiguration.msgedittos_msgs/CMakeLists.txtaddtos_msgs/msg/AccessLine.msgtos_msgs/msg/AccessLine.msgce4f0766aace66814f2a5f8025e07a3715a56c541786606344000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard 2026-08-13 15:32:24 +0800ce4f0766aace66814f2a5f8025e07a3715a56c54tos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msg.marscode/deviceInfo.json6249c01a43853ec0de531ca7b7285db7f8ef42641787019076000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:删除.marscode 2026-08-18 10:11:16 +08006249c01a43853ec0de531ca7b7285db7f8ef4264feat_out:删除.marscodedelete.marscode/deviceInfo.jsonperipheral_msgs/msg/PeripheralOperateState.msgcloud_msgs/msg/LedMsg.msgperipheral_msgs/msg/PeripheralOperateStates.msgtos_msgs/msg/PeripheralCmd.msg79e9ee25b4ab79077fc9216ed01c5b80ecee14ee1787038195000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autoMerge peripheral shared_msgs updates into rc_dev_weiqiao 2026-08-18 15:29:55 +080079e9ee25b4ab79077fc9216ed01c5b80ecee14eeMerge peripheral shared_msgs updates into rc_dev_weiqiaoedittos_msgs/msg/PeripheralCmd.msgeditperipheral_msgs/msg/PeripheralOperateState.msgeditcloud_msgs/msg/LedMsg.msgeditperipheral_msgs/msg/PeripheralOperateStates.msgtos_msgs/msg/PncConfiguration.msgtos_msgs/CMakeLists.txttos_msgs/msg/AccessLine.msg9883b8e30f68386d2c45c5d424f7d5c0d859fc231787896471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 2026-08-28 13:54:31 +08009883b8e30f68386d2c45c5d424f7d5c0d859fc23tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义addtos_msgs/msg/AccessLine.msgedittos_msgs/msg/PncConfiguration.msgedittos_msgs/CMakeLists.txttos_msgs/msg/AccessLine.msg5ed395184976ac2e53d71877213b95b907e55a891787896498000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard 2026-08-28 13:54:58 +08005ed395184976ac2e53d71877213b95b907e55a89tos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msgtos_msgs/CMakeLists.txttos_msgs/msg/PncConfiguration.msgtos_msgs/msg/AccessLine.msga6cc2eba4e6500eb50f7c134c69130ed5961609d1788166534000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 2026-08-31 16:55:34 +0800a6cc2eba4e6500eb50f7c134c69130ed5961609dtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义edittos_msgs/CMakeLists.txtedittos_msgs/msg/PncConfiguration.msgaddtos_msgs/msg/AccessLine.msgtos_msgs/msg/AccessLine.msg2d6540ee99dacd1ead24c835cb63c9282bc40ec71788166541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard 2026-08-31 16:55:41 +08002d6540ee99dacd1ead24c835cb63c9282bc40ec7tos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msgtos_msgs/msg/PeripheralCmd.msgf820c4ad43107c56f407831e44f6bc87cbbfff7f1788686986000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:对调命令target值 2026-09-06 17:29:46 +0800f820c4ad43107c56f407831e44f6bc87cbbfff7ffeat_out:对调命令target值edittos_msgs/msg/PeripheralCmd.msgtos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/PeripheralOperateState.msg961a6d64a8736eaf6ecd094f6274d2bec9fceadb1790434192000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 增加设备/目标类型 17 油缸升降（嘉兴）东方特钢举升/下降与状态反馈由类型 7（翻斗）改为 17。 2026-09-26 22:49:52 +0800961a6d64a8736eaf6ecd094f6274d2bec9fceadbfeat: 增加设备/目标类型 17 油缸升降（嘉兴）edittos_msgs/msg/PeripheralCmd.msgeditperipheral_msgs/msg/PeripheralOperateState.msgcloud_msgs/msg/CraneInfo.msg0a86996bd8e8ce67c530651964a740867ad582481791466791000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:添加场桥和岸桥运动状态 2026-10-08 21:39:51 +08000a86996bd8e8ce67c530651964a740867ad58248feat:添加场桥和岸桥运动状态editcloud_msgs/msg/CraneInfo.msggitssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/test/bounded_priority_queue_test.ccssep/coarse_search/bounded_priority_queue.hssep/test/bidirectional_candidate_validation_test.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccdea1739cc22e2186ef4ed491af976e6193fed47a1791792781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 为双向 Beam 搜索保留可恢复候选增加可选备用队列，在活动队列耗尽或快速尝试期限到达时恢复未扩展候选。恢复沿用原搜索图、已访问状态及总截止时间，默认 Beam 行为保持不变。覆盖同格更新、终点优先、清理生命周期和不重复根扩展等回归测试。 2026-10-12 16:13:01 +0800dea1739cc22e2186ef4ed491af976e6193fed47afeat: 为双向 Beam 搜索保留可恢复候选editssep/coarse_search/bidirectional_hybrid_astar_search_engine.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/test/bounded_priority_queue_test.cceditssep/coarse_search/bounded_priority_queue.heditssep/test/bidirectional_candidate_validation_test.ccssep/scenarios/parking_reference_region.hssep/test/ssep_planner_test.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/ssep/forward_ec.cppssep/coarse_search/evaluator/trailer_search_guide.hssep/test/trailer_search_guide_test.ccssep/coarse_search/evaluator/trailer_search_guide.ccssep/scenarios/scenario_planner_factory.hssep/common/utils/search_guide_body_sweep.hssep/scenarios/search_guide_fallback_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h00aa2bf3aa1f4c22e17dce1aa96c606508df2be01791792804000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化停车引导匹配并约束换向搜索在配置的换向区域内匹配引导入口，并校验最终任务换向位置。仅过滤与本次匹配引导车身扫掠范围重叠的静态对象，过滤后要求阶段与引导一致。按作业约定忽略静态行人；换向姿态采用相对参考的软排序，保留必要夹角。 GPU 简单搜索使用有预算上限的 Beam 候选恢复及完整队列兼容兜底。引导与普通分支比较共享搜索、优化和验收截止时间，到期保留已有可行解。验证：PNC 与 GPU 回放编译通过，56 项相关 C++ 测试通过。当前配置 21 例通过 18 例，3 个既有问题保持记录；35 个原输入均有解且段数与坐标不变。 2026-10-12 16:13:24 +080000aa2bf3aa1f4c22e17dce1aa96c606508df2be0fix: 优化停车引导匹配并约束换向搜索editdata/ssep/forward_ec.cppaddssep/scenarios/parking_reference_region.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/coarse_search/evaluator/trailer_search_guide.cceditssep/coarse_search/evaluator/trailer_search_guide.haddssep/common/utils/search_guide_body_sweep.heditssep/scenarios/search_guide_fallback_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/test/trailer_search_guide_test.ccssep/test/local_regression/tt_guide_filtered_gpu_manifest.tsvssep/test/local_regression/tt_recent_parking_quality.pyssep/test/local_regression/tt_recent_parking_adjustment_quality.jsonssep/test/local_regression/tt_recent_parking_cases.jsonssep/test/local_regression/README.mdssep/test/local_regression/test_configured_regression.pyssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_recent_regression_backend.pyssep/test/local_regression/test_remote_replay_cli.pyssep/test/local_regression/tt_recent_parking_two_segments_quality.jsonssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsvssep/test/local_regression/tt_recent_parking_gpu_manifest.tsvssep/test/local_regression/test_tt_recent_parking_quality.pyssep/test/local_regression/tt_recent_parking_cpu_manifest.tsvssep/test/local_regression/test_tt_parking_regression.pyssep/test/local_regression/tt_recent_parking_pure_reverse_quality.jsonssep/test/local_regression/tt_recent_parking_cusp_cpu_quality.jsonssep/test/local_regression/tt_recent_parking_cusp_gpu_quality.jsonssep/test/local_regression/tt_current_15m_input_overlay.jsonssep/test/local_regression/remote_replay_cli.pyc5759f0ea4257941b03b86f319ec01f04396fc491791792878000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 固化停车场景回归并完善远端超时清理新增 CPU、GPU 和当前 15 米配置清单，原始输入引用指定 NAS 回归目录。显式记录配置覆盖及输入哈希，校验实际搜索后端、新策略日志和终点航向。远端回放使用独立进程组与截止时间，覆盖传输超时、取消及子孙进程清理。本地执行器有界清理进程组，避免继承输出管道导致超时后永久等待。记录场景质量、已知失败及归档路径，不放宽原有验收条件。验证：Python 运行 129 项测试，1 项因缺少本地数据跳过，其余通过。 21 例当前配置与35例原始输入均完成 GPU 服务器对照，实际后端分别记录。 2026-10-12 16:14:38 +0800c5759f0ea4257941b03b86f319ec01f04396fc49test: 固化停车场景回归并完善远端超时清理addssep/test/local_regression/tt_recent_parking_two_segments_quality.jsonaddssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsvaddssep/test/local_regression/tt_recent_parking_quality.pyaddssep/test/local_regression/test_remote_replay_cli.pyaddssep/test/local_regression/tt_current_15m_input_overlay.jsonaddssep/test/local_regression/tt_guide_filtered_gpu_manifest.tsvaddssep/test/local_regression/tt_recent_parking_cases.jsonaddssep/test/local_regression/tt_recent_parking_cpu_manifest.tsveditssep/test/local_regression/README.mdaddssep/test/local_regression/tt_recent_parking_gpu_manifest.tsvaddssep/test/local_regression/remote_replay_cli.pyaddssep/test/local_regression/tt_recent_parking_cusp_gpu_quality.jsonaddssep/test/local_regression/tt_recent_parking_adjustment_quality.jsoneditssep/test/local_regression/test_tt_parking_regression.pyaddssep/test/local_regression/test_tt_recent_parking_quality.pyaddssep/test/local_regression/tt_recent_parking_cusp_cpu_quality.jsonaddssep/test/local_regression/tt_recent_parking_pure_reverse_quality.jsoneditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/test_configured_regression.pyaddssep/test/local_regression/test_recent_regression_backend.pyssep/scenarios/tractor_trailer_multi_segment_parking_planner.hf399a832e9fdcc31eda810061591a7a15d85f3851791797691000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充停车兼容搜索的起点半曲率采样在引导匹配且限制换向范围的 GPU 完整队列重试中，将起点前进曲率从三档补充为五档，改善离散采样对初始航向的敏感性。搜索结束后清除临时采样器，保持后续扩展、碰撞验收和总搜索预算。 22:23:50 场景在当前 15 米配置下由五段降为一前一倒，换向夹角约 1.26 度。24 例配置回归无新增失败，保留三例既有失败；相关 C++ 和 Python 测试及 PNC、GPU 回放编译通过。 2026-10-12 17:34:51 +0800f399a832e9fdcc31eda810061591a7a15d85f385fix: 补充停车兼容搜索的起点半曲率采样editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/test/local_regression/tt_recent_parking_configured_gpu_manifest.tsvssep/test/local_regression/README.mdssep/test/local_regression/tt_recent_parking_cases.jsonssep/test/local_regression/test_configured_regression.pyssep/test/local_regression/tt_recent_parking_gpu_manifest.tsve63f42ff881e1ab34895c79561c80c52fbd814be1791797708000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 固化津西夜间停车场景及起点采样回归新增 22:50:56、22:51:50 和 22:23:50 的原始文件来源及哈希，固定当前配置套件的两段、单段倒车和连续单换向验收要求。原始数据引用持久 NAS 目录。配置套件扩为 24 例，21 例质量通过、23 例搜索成功，三例既有失败保留。文档记录路径净空变化、GPU 实际执行后端及结果归档位置，并明确异常例的原始参数不属于已修复验收范围。 2026-10-12 17:35:08 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个现场场景完成初筛；可视化程序编译通过，13 项相关测试及真实浏览器筛选与路径展示检查通过。 2026-10-12 19:06:36 +080034e4130ef1a4f64b5b09047a3504b1123540b0a3feat: 增加 SSEP 全天场景巡检与多条件筛选界面editssep/test/local_regression/README.mdaddssep/offboard/servers/scene_audit.heditssep/offboard/servers/scene_vis_server.ccaddssep/test/local_regression/test_scene_audit_ui.pyaddssep/test/local_regression/test_scene_audit.pyeditssep/offboard/servers/scene_vis_html_template.ccaddssep/offboard/servers/scene_audit_html.hdata/obstacle/decision/obstacle_decision.hpptasks/plan/keb_utils.cppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mddata/obstacle/decision/obstacle_decision.cppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/boundary/driving_corridor_test.cppf08a4edd489ccc91c4ad2797d5d25a2ad8bca1421791808313000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复障碍物与凸包切换导致的绕行占用中断复用静止证据缓存，在 obj、TYPE_CLUSTER 和感知 ID 切换时保留当前观测与固定历史区域的交集。支持拆框、合框的多片占用续期，DP 与 KEB 分片消费；严格的一对一策略恢复和未初始化限制保持独立。复用凸包 tracker 的运动确认迟滞，并处理量化后的微小凹角；运动冲突同时禁止旧缓存续期和新缓存重建。补充真实现场几何、运动撤销、缓存生命周期及 DP/KEB 回归，同步缓存合同说明与生成审计指纹。验证：211 项决策、走廊和 KEB 测试通过，生成文件与 Proto 兼容性检查通过。 2026-10-12 20:31:53 +0800f08a4edd489ccc91c4ad2797d5d25a2ad8bca142fix: 修复障碍物与凸包切换导致的绕行占用中断editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/decision/obstacle_decision.cppeditdocs/pnc_algorithm_replay/plan_frame_field_contract_notes.mdeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision_test.cppedittasks/plan/keb_utils.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonTesting/compact_driving_corridor_restore_test.cpp4b77e7e1763020ab188ac2d24fe674b3fc0d8bbd1791808328000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加静止占用跨帧续接的场景回归顺序重算时从历史推进障碍物决策和 runtime cluster tracker，避免每帧录制缓存掩盖续接问题。增加帧范围选择、指定静止锚点逐帧续期断言，以及缓存、运动证据和占用片诊断输出。使用现场 bag 与精确津西地图验证问题区间 246 帧，锚点持续续期且无占用中断。该入口保留其他录制规划输入，用于局部决策和边界回归，不作为完整闭环验证。 2026-10-12 20:32:08 +08004b77e7e1763020ab188ac2d24fe674b3fc0d8bbdtest: 增加静止占用跨帧续接的场景回归editTesting/compact_driving_corridor_restore_test.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/decision/obstacle_decision_test.cpp7a56b34c30768cc83b9987c83da571d0d30351c41791811848000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复静止绕行证据匹配中的非凸轮廓崩溃统一校验 cluster 观测与跟踪轮廓，在计算 IoU 前重建非凸轮廓的凸包，并检查凸性、有限坐标和有效面积，避免 ComputeOverlap 断言退出。无效轮廓跳过静止证据匹配并限频记录，保留成熟度、IoU 阈值及唯一匹配约束。补充观测、跟踪及双方非凸，以及空轮廓、零面积、NaN、Inf 回归。验证：29 项静止绕行证据测试通过；津西 AT001 复现 bag 修复前触发同一断言，修复后全部 610 帧 CPU 障碍物决策重算通过；pnc_node 构建通过。 2026-10-12 21:30:48 +08007a56b34c30768cc83b9987c83da571d0d30351c4fix: 修复静止绕行证据匹配中的非凸轮廓崩溃editdata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/decision/obstacle_decision.cppdata/obstacle/ogm.cppTesting/ogm_distance_equivalence_test.cppdata/boundary/driving_corridor.cppdata/obstacle/ogm.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonreplayer/scene_data/generated/state_schema_inputs.jsonreplayer/scene_data/generated/container_schema_inputs.jsondata/boundary/driving_corridor_test.cppb497f7f479b7d1322a192cb791e6ad9bf6371dd51791812078000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复侧避栅格越界导致的走廊末端假收缩按完整走廊扫描范围和道路墙扩展独立侧避栅格，并重画原始占用；修正默认栅格宽度计算，避免转弯后走廊超出原感知范围。距离与来源查询统一检查覆盖范围，图外返回 0/NONE，停止重复读取边缘道路墙。扩容前检查像素索引及面积，异常几何清空当前图，避免溢出及旧图残留。补充四向扩容、原图外真实点云/实体占用、异常几何和查询边界回归；同步 OGM 头文件注释对应的生成审计指纹，不改变序列化字段。验证：68 槽位 Icecream 集群编译通过；216 项走廊测试和 19 项 OGM/恢复测试通过。 AT001 2026-10-11 场景 960 帧 CPU 走廊/DP 回放通过；截图帧末端 27 个断面假分隔消失，s=116～125 m 的真实障碍约束保持一致。 2026-10-12 21:34:38 +0800b497f7f479b7d1322a192cb791e6ad9bf6371dd5fix: 修复侧避栅格越界导致的走廊末端假收缩editdata/boundary/driving_corridor_test.cppeditreplayer/scene_data/generated/state_schema_inputs.jsoneditTesting/ogm_distance_equivalence_test.cppeditdata/obstacle/ogm.cppeditreplayer/scene_data/generated/container_schema_inputs.jsoneditdata/obstacle/ogm.hppeditdata/boundary/driving_corridor.cppeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/ssep/forward_ec.cppTesting/bulk_goal_obstacle_filter_test.cpp42db84b5c336772d0bbac5ebc3178d1c6587182d1791817391000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止前向搜索障碍过滤触发退化多边形崩溃前向搜索直接过滤聚类障碍，避免使用其可能退化的包围盒。对其余候选静态障碍在重叠过滤前统一校验尺寸、有限坐标和实际面积；无效时记录限频诊断并拒绝本轮环境构建，避免断言退出或误删实体障碍。补充聚类过滤、零尺寸、非有限坐标、面积阈值、大坐标退化及失败恢复回归。项目分布式构建通过，BulkGoalObstacleFilterTest 的 22 项测试全部通过。 2026-10-12 23:03:11 +080042db84b5c336772d0bbac5ebc3178d1c6587182dfix: 防止前向搜索障碍过滤触发退化多边形崩溃editdata/ssep/forward_ec.cppeditTesting/bulk_goal_obstacle_filter_test.cpptasks/deciders/long_decider/constrain_decider.cpp702c7f224ec69a8214a30645c1874c33f1bff59e1791817611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正倒车对象停车线位置偏移在 CreateStGraphConstrain 中按路径方向选择车头或车尾偏移，修正倒车对象停车线仍使用车头偏移导致的位置错误。沿用已有匹配点计算与 HMI 绘制流程，保留负停车余量和路径边界检查。验证：pnc_node、pnc_replayer 分布式编译通过； obstacle_stop_constraint_stabilizer_test 回归通过。 2026-10-12 23:06:51 +0800702c7f224ec69a8214a30645c1874c33f1bff59efix: 修正倒车对象停车线位置偏移edittasks/deciders/long_decider/constrain_decider.cppgittest/mpc_error_status_test.cppdata/plan/plan_enum_definition.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/plan/plan_data.cpptest/CMakeLists.txtdata/plan/plan_data.hpp484ea8e4d0e3304a86da8b7a8bee684c9b82c5db1790742949000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: enable MPC deviation checks for lock-station region status 2026-09-30 12:35:49 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处理线程池editsrc/ros_can_interpreter.heditsrc/ros_can_interpreter.cppgitcore/empty_trailer_lidar_fallback.hcore/spreader_detection.cppe5144c61bb1a2f5ba6898f46d3d6a82c459657ed1791774317000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto前空也纳入点云空载的补判 2026-10-12 11:05:17 +0800e5144c61bb1a2f5ba6898f46d3d6a82c459657ed前空也纳入点云空载的补判editcore/spreader_detection.cppeditcore/empty_trailer_lidar_fallback.hgithttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2501http://159.27.114.184:8080/jenkins/job/orin-slave32/501/499http://159.27.114.184:8080/jenkins/job/orin-slave32/499/