Build #506 (Oct 24, 2026 4:22:41 PM)

	Changes feat: 低贝位ec建立防抖 && truck起步曲率强制为0取消并适配pjpo (details) feat(keb): apply planning profiles to online algorithms (details) feat(keb): add offboard replay and HTML diagnostics (details) feat:去除不必要的trhow机制 (details) feat: KEB对换向点运动放向增加额外包络圆 (details) feat: 二次优化的planner配置对应的参数 (details) fix: 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 (details) feat: IMV默认包络统一 (details) feat: html分析工具增加路径几何 (details) feat: rebase后配置参数的调整、冗余代码合并、通道构造全场景配置 (details) 调整 KEB 参数与配置生效，完善离线回放及诊断 (details) fix: 完善停车重规划的拉直与碰撞验收 (details) feat: 绘制场景起终点的车头航向箭头 (details) test: 更新人工回归规则并精简测试工具 (details) feat: 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 (details) feat: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 (details) feat: keb中的QP展示优化 (details) fix: 完善 IMV 换向搜索和历史重规划验收 (details) fix: 区分 IMV 车体与速度航向并展示终点约束 (details) test: 纳入东方特钢精简回归集并固定测试范围 (details) fix: 修复双向 IMV 的 SSEP 末端停止线缺失 (details) fix: 修复 IMV 多段停车重搜索方向门禁 (details) fix: 修正弯道会车避让并统一绕行状态退出 (details) docs: 补充 SidePass 横向避让功能说明 (details) fix: 振石前向搜索跳过默认末端虚拟通道 (details) fix: 统一路口搜索跨任务复用规则 (details) feat: 调整拖挂车终检包络并提高入堆场参考线权重 (details) feat: 统一步进对准地图选源并完善补偿与失效停车 (details) fix: 修复搜索条件重名导致的变道崩溃 (details) fix: 约束拖挂换向后的首段曲率变化 (details) feat: 支持引导线起点位姿软偏好 (details) fix: 优先搜索 GPU 近距离换向并验证回退 (details) fix: 修复极限变道任务交接时重复搜索 (details) fix: 修复连续进堆场因参考线未创建而漏触发搜索 (details) docs(ssep): 固定按功能重构计划与验收边界 (details) docs(ssep): 追踪105项来源提交及最终能力 (details) fix(replay): 初始化实际读取状态并校验本机生成基线 (details) fix(codegen): 支持GCC配置与外置构建的真实AST校验 (details) refactor(ssep): 统一v2参数与请求快照并贯通在线回放 (details) feat(ssep-tools): 迁移二进制回归与独立路径质量检查 (details) feat(ssep-workbench): 引入回放编辑工作台并保留目标约束 (details) chore(ssep): 清理退役配置与旧标定脚本 (details) docs(ssep): 汇总本轮实施验收与来源能力落地 (details) fix(replay): 传递live SSEP帧时间基准并禁止省略解码参数 (details) fix(ssep): 恢复地图查询覆盖并验证远处停车约束 (details) fix(ssep): 保留NO_TURN车道完整几何与路径库匹配语义 (details) test(replay): 补齐时间基准调用并验证拒绝后delta恢复 (details) fix(ssep-tools): 完整验证实际下发轨迹与原始beta对应关系 (details) fix(replay): 明确上报实际执行中的SSEP输入不支持错误 (details) docs(ssep): 记录五项审查修复及本轮构建回归结果 (details) docs(workbench): 固定可视化补全阶段与字段覆盖表 (details) feat(workbench): 统一可视化接口并补齐输入图层 (details) feat(workbench): 展示完整路径属性并联动采样与播放 (details) feat(workbench): 增加快照路径库预览及录制诊断详情 (details) feat(workbench): 接入有效约束与栅格采集查看界面 (details) fix(workbench): 对齐输入显隐编辑同步和诊断生命周期 (details) docs(workbench): 记录可视化覆盖和本机三模式验收结果 (details) refactor(ssep): 按语义重排场景字段并升级 v3 协议 (details) docs(pnc): 优先使用本机 GPU 开展编译和验证 (details) refactor(ssep): 统一场景版本校验并精简重复逻辑 (details) refactor(ssep): 移除激活接口冗余路径参数 (details) refactor(ssep): 按输入输出职责重排 Plan 参数 (details) docs(ssep): 记录路径产物完整性修复方案 (details) fix(ssep): 隔离粗路径后处理失败并清理请求产物 (details) fix(ssep): 补齐场景规划器粗路径产物 (details) fix(ssep): 完善组合与回退路径产物传播 (details) test(ssep): 完成路径产物贯通回归与验收 (details) docs(ssep): 汇总路径产物修复实施与验收结果 (details) refactor(ssep): 提取地图构建和路径输出后处理 (details) refactor(ssep): 分离路径来源调度与完整场景规划 (details) test(ssep): 覆盖路径来源资格和按需构建边界 (details) docs(ssep): 记录路径来源分离CPU与GPU验收 (details) docs(ssep): 记录核心搜索优化产物重构计划 (details) feat(ssep): 保存真实搜索优化阶段及独立产物合同 (details) feat(ssep): 贯通复杂场景阶段产物与候选整组传播 (details) refactor(ssep): 贯通阶段产物与唯一输出合同 (details) docs(ssep): 完成核心路径结果验收与实施记录 (details) feat(ssep): 定义带用途和显式存在性的Pass点 (details) refactor(ssep): 贯通带用途的Pass点与有序途经约束 (details) docs(ssep): 完成途经输入重构验收记录 (details) feat: 保留轨迹优化重采样后的原始锚点映射 (details) feat: 按倒车优先级搜索首个途经段并支持失败回退 (details) fix: 对齐绕行搜索与优化范围以修复末端窄边界 (details) test: 增加绕行采样重建与关键帧优化回放验证 (details) test: 将津西首段前进调整场景纳入 CPU 回归集 (details) fix(ssep): 补齐 Daxie 基线在重构接口上的接线 (details) docs(ssep): 记录 Daxie rebase 对照与验收结果 (details) fix: 保持散货搜索引导线的历史路径连续性 (details) fix: 防止散货搜索过渡阶段访问空道路边界 (details) docs(ssep): 固定回归语料迁移与双分支验收合同 (details) fix(ssep): 贯通回放起点运动状态并保留空历史回退 (details) feat(ssep): 增加冻结语料转换与双分支回归对照工具 (details) feat: 支持按位置强制挂车先倒车再前进出库 (details) test: 固定津西直接前进出库位置的回归例外 (details) fix(ssep): 校准回归日志采集与真实 GPU 执行证据 (details) feat: 支持挂车出库优先倒车及无解前进回退 (details) fix(ssep): 明确回归执行进度与独立路径一致性统计 (details) fix(ssep): 保留场景构图边界的原始双精度坐标 (details) fix(ssep): 修复边界转换精度并补齐实际输入门禁 (details) fix(ssep): 将地图对比工具接入当前场景与唯一输出 (details) fix(ssep): 补齐语料冻结工具并严格校验迁移来源 (details) fix(ssep): 补齐局部时限重放并汇总全部回归观测 (details) docs(ssep): 归档双分支回归证据与未闭环差异 (details) docs(ssep): 汇总算法一致性结论与差异归因 (details) fix(keb): 更新离线场景转换器参数头文件引用 (details) chore: 补充低贝位入场搜索关键诊断日志 (details) feat(ssep): 将回放工作台图层整理为折叠树 (details) feat: 补全挂车碰撞链路的铰接偏置并调整泊车搜索权重 (details) fix: 完善变道准备距离与路口前停车等待 (details) feat(ssep): 重设计回放工作台并修复场景切换崩溃 (details) fix: 修复苏溪出停车误匹配路边停车场景 (details) fix(ssep): 保留规划完成后的场景状态浮窗 (details) feat(migration): 支持固定版本基线 profile (details) feat(migration): 增加暂存转换与 manifest v2 (details) fix(regression): 固定配置实验与源数据血缘 (details) feat(regression): 接入转换数据的独立质量校验 (details) fix(regression): 拒绝执行期间的规则与验证器漂移 (details) feat(regression): 增加功能安全验收与覆盖审计 (details) fix(migration): 绑定当前 probe 的实际候选源码 (details) test(ssep): 贯通转换与回放验收流程 (details) fix(validation): 证明预处理几何差异的可行性边界 (details) fix(ssep): 保持刚性货车成功输出的机械可行性 (details) fix(ssep): 验证并修复停车路径的实际下发曲率 (details) fix(test): 适配锚点约束回归的新接口 (details) fix(validation): 统一默认 JSON 名的描述符指纹 (details) fix(validation): 区分 IMV 车体曲率与下发几何曲率 (details) fix(ssep): 修复 IMV 通用路径的耦合轮角超限 (details) fix(ssep): 对齐 IMV 搜索根与优化首边方向 (details) fix(validation): 校验实际发布字段并对齐倒车曲率语义 (details) docs(validation): 说明字段身份与 SSEP 输出验收边界 (details) fix: 明确展示场景停车位碰撞约束 (details) fix: 修复快照重复打开崩溃与地图热切换生命周期 (details) feat(validation): 固定三条排除与单例验收例外 (details) fix: 使用 PJPO 时跳过起步边界扩展 (details) feat: 增加地图覆盖限时等待并调整入库搜索与碰撞查询 (details) fix: 修复散货调整阶段被参考线失败阻断搜索 (details) feat: 支持散货停车中的缓冲等待与途径点单次放行 (details) fix(validation): 固定已批准例外并校验完整碰撞证据 (details) fix(replay): 补齐GPU搜索退出路径的真实后端证据 (details) fix: 调整振石搜索起点并放开任务途经点支持 (details) fix: 修复出堆场新任务等停与同路线搜索复用 (details) fix: 防止包络更新沿用旧异步搜索区域 (details) fix: 使用录制轮角恢复牵引车停稳搜索起点 (details) test: 增加出堆场新任务原包回放验证 (details) fix(replay): 保留双向 IMV 车型子类型 (details) fix(ssep): 校验并修复 IMV 通用与进站路径的物理连续性 (details) fix(ssep): 保持 IMV 泊车机械限制并封闭不安全回退 (details) fix(ssep): 保证 CAR 泊车完整车体和终段进入约束 (details) feat(migration): 登记 Daxie 759694 精确基线 profile (details) feat(validation): 按实际清障合同登记限定例外 (details) fix(validation): 对专项报告的每条实际路径分别证明清障例外 (details) feat(migration): 固定最新 Daxie AFE 基线身份 (details) feat(validation): 为预处理证明绑定完整源码与消费者 (details) feat(validation): 在冻结时绑定新基线与双重几何审查 (details) fix(validation): 依据真实 GPU 调用及所选搜索路径验收后端 (details) fix(validation): 用真实所选 GPU 路径消除已审 TT 路由歧义 (details) fix: 缓存会车资格检查以消除横向规划卡顿 (details) docs: 调整 GPU 测试环境为服务器优先 (details) fix: 数据指纹阻碍编译 (details) fix(zip): 避免创建条目失败时关闭未初始化指针 (details) fix: 保证刚性车停车末端直线与调整段碰撞约束 (details) test: 更新魏桥停车回归验收与场景剔除记录 (details) fix: 解除 WBCA 对 DP 截断长度的限制 (details) feat: 补充双向搜索近邻节点配对 (details) feat: 支持边界外障碍膨胀侵入走廊后的避让 (details) fix: 为启用外部障碍避让的前向参考预留一厘米余量 (details) feat: 优化碰撞代价求值并收紧近邻连接 (details) fix: 恢复 Proto 编码器生成文件以通过构建门禁 (details) fix: 修正变道物理边界与目标参考线 (details) fix: 修复变道场景回放初始化与主参考线重建 (details) feat: tune trailer yard entry optimizer weights (details) fix: 避免 DP 历史覆盖尾点累积为密集采样层 (details) fix: 使用实际编译版本标识场景回放候选结果 (details) feat: 补齐 DP 采样指标与逐帧回放报告 (details) fix: 补齐散货搜索交接帧的几何与轨迹规划 (details) feat: 补充引导线和参考线回放诊断指标 (details) fix: 统一 Proto 生成检查与构建工具链的编译器 (details) Changes fix: update the mpc_straight_lane_deviation condition (details) feat: crash工具 (details) feat: 优化防滑基准油门并增加异常阻力停车告警 (details)
	Started by user zhaojianfeng2
	Revision: 96520993f2091c5c20b76859bd52c97664423e89 Repository: http://159.27.226.4/weilikang/jenkinslib.git master
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	Revision: bf2ccb2aafaa849dcf63c9a588060325e5bdba3a Repository: http://159.27.226.4/driver_and_tools/rslidar_sdk_new.git origin/rc_dev
	Revision: 7b707e2e1522d87449a46353714b133cd28c9639 Repository: http://159.27.226.4/lidar/perception_publisher.git origin/rc_dev
	The following steps that have been detected may have insecure interpolation of sensitive variables (click here for an explanation): `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]` `httpRequest: [gitlabToken]`
	Aborted by user zhaojianfeng2
	Aborted by user zhaojianfeng2