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opteditdata/wbca/wbca_data.hppeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/imv_wbca_manager.cppeditdata/wbca/wbca_data.cppeditalgorithm/wbca/path_optimization/path_optimization.cppalgorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpp3d1116dbde5bce9a82f7fe09b17c4bb1d4191b921780052167000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth mode optimization 2026-05-29 18:56:07 +08003d1116dbde5bce9a82f7fe09b17c4bb1d4191b92fix: smooth mode optimizationeditalgorithm/wbca/wbca_manager.hppeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/path_optimization/path_optimization.cppf9a6597d905bb67f260fa38a8a12d1c0fa1d50231780299858000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cancel wbca smooth_mode for the first frame 2026-06-01 15:44:18 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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。 2026-06-04 21:39:21 +0800bf5c8b6a5d40a577e06606874e8c3225fb2d58eefeat: 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。editssep/keb_optimizer/keb_problem.ccaddssep/common/utils/clipper2/include/clipper2/clipper.heditalgorithm/plan/keb_optimizer.cppaddssep/common/utils/clipper2/include/clipper2/clipper.core.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.heditssep/CMakeLists.txtaddssep/keb_optimizer/distance_field_interpolator.haddssep/common/utils/clipper2/src/clipper.triangulation.cppeditoffboard/keb_path_opt_cli/keb_simulator.ccaddssep/common/utils/clipper2/include/clipper2/clipper.engine.haddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.haddssep/keb_optimizer/cost_features/cost_functions.heditoffboard/keb_path_opt_cli/keb_scene_converter.ccaddssep/common/utils/clipper2/src/clipper.rectclip.cppeditoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccaddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppeditssep/data_structures/polyline.ccedittasks/plan/keb_lane_follow_path_task.cppaddssep/common/utils/clipper2/src/clipper.engine.cppaddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.heditssep/keb_optimizer/imv_keb_optimizer.ccaddssep/common/utils/clipper2/include/clipper2/clipper.export.heditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.haddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.haddssep/common/utils/clipper2/include/clipper2/clipper.version.haddssep/common/utils/clipper2/src/clipper.offset.cppdata/constrain/block_data.cppdata/config/cfg_safe_const.hppdata/config/cfg_safe_const.cpp4e529beda6281c89daa913f798b557c92d0a3df51780997289000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curature over limit stop optimization 2026-06-09 17:28:09 +08004e529beda6281c89daa913f798b557c92d0a3df5fix: curature over limit stop optimizationeditdata/config/cfg_safe_const.cppeditdata/constrain/block_data.cppeditdata/config/cfg_safe_const.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/maps/ogm.htasks/plan/keb_utils_core.cppssep/maps/ogm.ccssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.cctasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/maps/ogm_builder.hssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.cc5b1a62a1b19dc733d075fcb7f51dab31938582f41781010932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑 2026-06-09 21:15:32 +08005b1a62a1b19dc733d075fcb7f51dab31938582f4chore: Keb: 集卡进堆场增加“最后拉直段减小避障半径”的逻辑editalgorithm/plan/keb_optimizer.cppeditssep/maps/ogm_builder.heditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditdata/config/cfg_lat_plan.cppedittasks/plan/keb_utils_core.hppeditssep/maps/ogm_builder.ccedittasks/plan/keb_utils_core.cppeditssep/maps/ogm.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/maps/ogm.hssep/maps/ogm_config_utils.hssep/maps/ogm_config_utils.ccssep/ssep_planner.cc7af0c7391673b03d1f2c27d375eb87e89d84fdcf1781073903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 重构OGM构建流程 2026-06-10 14:45:03 +08007af0c7391673b03d1f2c27d375eb87e89d84fdcfrefactor: SSEP: 重构OGM构建流程addssep/maps/ogm_config_utils.ccaddssep/maps/ogm_config_utils.heditssep/ssep_planner.cc.gitignorebe3ce1d49b1c6d7f491a658c7263620f1afcb7221781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加skills到.gitignore以忽略相关文件 2026-06-10 15:07:35 +0800be3ce1d49b1c6d7f491a658c7263620f1afcb722feat: 添加skills到.gitignore以忽略相关文件edit.gitignoredata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppdata/constrain/longitude_constrain.hppdata/app/fsm/stop_reason.cppdata/constrain/longitude_constrain.cppc8876f9999372ab3bfe13fbffda89c1ecef665481781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: step align状态下，吊具防护，montion状态机切换的bug 2026-06-10 15:07:35 +0800c8876f9999372ab3bfe13fbffda89c1ecef66548fix: step align状态下，吊具防护，montion状态机切换的bugeditdata/constrain/longitude_constrain.hppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/app/fsm/stop_reason.cppeditdata/constrain/longitude_constrain.cppdata/map/pnc_map/pnc_map_helper.hppplan/prepare/prepare_status.cppdata/map/pnc_map/pnc_map_helper.cppa36a7f30bdbce770bcbb209a26e659a01417e2571781075255000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进充电桩，场景适配错误的bug 2026-06-10 15:07:35 +0800a36a7f30bdbce770bcbb209a26e659a01417e257fix:修复进充电桩，场景适配错误的bugeditdata/map/pnc_map/pnc_map_helper.cppeditdata/map/pnc_map/pnc_map_helper.hppeditplan/prepare/prepare_status.cpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hpp72ef714fd0e866823e7d2dd7c0df42e08a47dac71781076428000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 删除未用到的“BuildKebOGM”方法 2026-06-10 15:27:08 +080072ef714fd0e866823e7d2dd7c0df42e08a47dac7fix: Keb: 删除未用到的“BuildKebOGM”方法edittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hpphmi/widget/path_curve_detail.hpphmi/replayer_hmi.hpphmi/node_hmi.hpphmi/widget/path_curve_detail.cpphmi/node_hmi.cpphmi/replayer_hmi.cpp9303bd8e2d53b8012b3756c1275e8ce4f95990941781081026000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat(hmi): 新增路径曲线面板 path_curve_detail 2026-06-10 16:43:46 +08009303bd8e2d53b8012b3756c1275e8ce4f9599094feat(hmi): 新增路径曲线面板 path_curve_detailedithmi/node_hmi.cppaddhmi/widget/path_curve_detail.hppedithmi/node_hmi.hppedithmi/replayer_hmi.cppaddhmi/widget/path_curve_detail.cppedithmi/replayer_hmi.hppalgorithm/util/curvature.hppalgorithm/util/curvature.cppdata/common/guide_path.cppdata/plan/path_data.cppaceeded995c38d29a70420d2aa4721405dd9f2f31781081617000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化引导线曲率跳变的bug 2026-06-10 16:53:37 +0800aceeded995c38d29a70420d2aa4721405dd9f2f3refactor:优化引导线曲率跳变的bugeditalgorithm/util/curvature.cppeditdata/common/guide_path.cppeditdata/plan/path_data.cppeditalgorithm/util/curvature.hppscripts/clang_format.shc993e76f4bcac3a41330f1f0e86409606f30ba661781082251000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新 clang-format 命令的使用说明和检查逻辑 2026-06-10 17:04:11 +0800c993e76f4bcac3a41330f1f0e86409606f30ba66fix: 更新 clang-format 命令的使用说明和检查逻辑editscripts/clang_format.shalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppmath/piecewise_jerk/piecewise_jerk_problem.hpptasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_path_problem.cppdcf2390c1b8735e60ba08704a7d4c9796a2fb94f1781088125000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加软约束以支持初始状态的灵活性 - 在 PiecewiseJerkProblem 中添加了对初始状态的软约束支持，允许在优化过程中对初始位置（l）、速度（dl）和加速度（ddl）进行灵活处理。 - 更新了相关的计算和约束逻辑，以支持软约束的引入。 - 在 PJPO 算法中实现了对初始状态的软化处理，增强了路径优化的鲁棒性。 - 进行了代码格式化和逻辑优化，提高了代码可读性。 2026-06-10 18:42:05 +0800dcf2390c1b8735e60ba08704a7d4c9796a2fb94ffeat: 添加软约束以支持初始状态的灵活性editalgorithm/plan/pjpo.cppedittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.cppe9c9d88b14b740b58efb48bf08c66eb9620ac4841781089147000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 注释掉停止车辆的初始化日志输出 2026-06-10 18:59:07 +0800e9c9d88b14b740b58efb48bf08c66eb9620ac484fix: 注释掉停止车辆的初始化日志输出editalgorithm/plan/pjpo.cppssep/keb_optimizer/imv_keb_optimizer.ccbe675513a5048a731785209afa4355e958d793f71781091915000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 增加IMV后方碰撞检测距离 2026-06-10 19:45:15 +0800be675513a5048a731785209afa4355e958d793f7fix: Keb: 增加IMV后方碰撞检测距离editssep/keb_optimizer/imv_keb_optimizer.ccplan/prepare/prepare_ogm.cppreplayer/replayer_data_process/replayer_data_process.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cpp1b8760659f115f904630f63c1c3846324e8a6a071781100097000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:01:37 +08001b8760659f115f904630f63c1c3846324e8a6a07feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测editdata/lattice/ogm_crash_data.cppeditdata/plan_frame.cppeditdata/lattice/ogm_crash_data.hppeditplan/prepare/prepare_ogm.cppeditreplayer/replayer_data_process/replayer_data_process.cppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditdata/config/cfg_hmi.hppdata/plan/cloud_trajectory.hppc5cb73ea011dc96e57e8627246e29fe6cd3f8b281781100284000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加CloudTrajectoryPoint的赋值运算符重载 2026-06-10 22:04:44 +0800c5cb73ea011dc96e57e8627246e29fe6cd3f8b28feat: 添加CloudTrajectoryPoint的赋值运算符重载editdata/plan/cloud_trajectory.hpphmi/draw/draw_collision_detection.cppcf2d8b2594e72a6829842a63598cdefe67a0cb601781100302000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:05:02 +0800cf2d8b2594e72a6829842a63598cdefe67a0cb60feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cppplan/prepare/prepare_ogm.cppreplayer/replayer_data_process/replayer_data_process.cppdata/config/cfg_hmi.hppdata/lattice/ogm_crash_data.cppdata/config/cfg_hmi.cppdata/lattice/ogm_crash_data.hppdata/plan_frame.cpphmi/replayer_hmi.cppb7d0da6551b2d1288386fb5485e8e7358efaf9521781101463000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 2026-06-10 22:24:23 +0800b7d0da6551b2d1288386fb5485e8e7358efaf952feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测editdata/config/cfg_hmi.cppeditdata/lattice/ogm_crash_data.cppeditdata/lattice/ogm_crash_data.hppeditdata/plan_frame.cppedithmi/replayer_hmi.cppeditplan/prepare/prepare_ogm.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/config/cfg_hmi.hpphmi/draw/draw_collision_detection.cpp5b60ab02615b439f33dce7bc015d900f4583ecf51781101471000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 注释掉OgmCollisionPos函数中的更新检查 2026-06-10 22:24:31 +08005b60ab02615b439f33dce7bc015d900f4583ecf5feat: 注释掉OgmCollisionPos函数中的更新检查edithmi/draw/draw_collision_detection.cpphmi/replayer_hmi.cpp2be76502ab8460d9f50c979959c2bde171ff05e21781109945000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:合并的bug 2026-06-11 00:45:45 +08002be76502ab8460d9f50c979959c2bde171ff05e2fix:合并的bugedithmi/replayer_hmi.cppalgorithm/plan/obstacle_risk_evaluation.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppalgorithm/plan/obstacle_risk_evaluation.hpp2613c75400eb3d06c154c5cccbc3bc4cf8d33eaf1781153489000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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。 2026-06-11 12:51:29 +08002613c75400eb3d06c154c5cccbc3bc4cf8d33eaffeat: 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。editdata/config/cfg_func_sw.cppeditalgorithm/plan/obstacle_risk_evaluation.cppeditalgorithm/plan/obstacle_risk_evaluation.hppeditdata/obstacle/obstacle_decider_attr.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/obstacle/obstacle_decider_attr.hppeditdata/config/cfg_func_sw.hppdata/config/cfg_lat_plan.hppconfig/config_imv/scenario.yamldata/config/cfg_lat_plan.cppdata/plan/switch_data.cpptasks/plan/lane_change_path_task_v2.hppdata/config/cfg_stage.cpptasks/task_factory.cpptasks/plan/lane_change_path_task_v2.cppdata/config/cfg_stage.hppb7f53a0bfa8f370f104b66a273b55a68190e004f1781156898000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add lane_change_path_task v2 2026-06-11 13:48:18 +0800b7f53a0bfa8f370f104b66a273b55a68190e004ffix: add lane_change_path_task v2editconfig/config_imv/scenario.yamledittasks/task_factory.cppaddtasks/plan/lane_change_path_task_v2.cppeditdata/config/cfg_lat_plan.cppaddtasks/plan/lane_change_path_task_v2.hppeditdata/plan/switch_data.cppeditdata/config/cfg_stage.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_lat_plan.hppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/scenario.cppcore/plan_runtime_watchdog.hppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppnode/logic.cppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppd428f839d466a526ed34f78e031585e10206975a1781159693000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化看门狗功能 2026-06-11 14:34:53 +0800d428f839d466a526ed34f78e031585e10206975arefactor:优化看门狗功能editscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditcore/plan_runtime_watchdog.hppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/scenario.cppeditnode/logic.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cpptasks/plan/keb_lane_follow_path_task.cpptasks/plan/keb_path_optimize_task.cpp42ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcf1781159717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 移除不必要的等待调用以优化重置过程 2026-06-11 14:35:17 +080042ab29bd0a1c8d4a3800f387b5cc1ef27dc80fcffix: 移除不必要的等待调用以优化重置过程edittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_path_optimize_task.cppdata/ssep/bridge_junction_ec.cppbbba4b68d977b68cf50ceb2db84de981abafc74b1781159792000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:西联上下引桥 不创建双黄线约束 2026-06-11 14:36:32 +0800bbba4b68d977b68cf50ceb2db84de981abafc74bfix:西联上下引桥 不创建双黄线约束editdata/ssep/bridge_junction_ec.cppssep/keb_optimizer/keb_problem.cc34fb15d729dc025a5e709bdc5d855a2b19ba79ae1781255589000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复新版本优化偶发输出异常的问题 2026-06-12 17:13:09 +080034fb15d729dc025a5e709bdc5d855a2b19ba79aefix: SSEP: 修复新版本优化偶发输出异常的问题editssep/keb_optimizer/keb_problem.ccoffboard/keb_vis_server/CMakeLists.txtfc11109b411434af2c1576ab31bc5264145729151781256364000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件 2026-06-12 17:26:04 +0800fc11109b411434af2c1576ab31bc526414572915feat: 添加数据和ssep原型的依赖关系到keb_vis_server可执行文件editoffboard/keb_vis_server/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/truck_accurate_reversing_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_multi_segment_parking_planner.hdcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c61781257884000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 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 2026-06-12 17:51:24 +0800dcdcb59ecbcb8a6c3f9e3855c6413a5932fd26c6feat: 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editssep/scenarios/truck_accurate_reversing_planner.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.hdata/plan/reference_line_info.cpphmi/draw/draw_map.cpp59d9ca2c7297bdf49abd6f72e63f19136f01a75e1781264469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复变道完成后目标车道切换错误的bug 2026-06-12 19:41:09 +080059d9ca2c7297bdf49abd6f72e63f19136f01a75efix:修复变道完成后目标车道切换错误的bugeditdata/plan/reference_line_info.cppedithmi/draw/draw_map.cppssep/scenarios/tractor_trailer_enter_yard_planner.h626f5302148dff1d0e44b0e882d968958c6236741781507195000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_ 2026-06-15 15:06:35 +0800626f5302148dff1d0e44b0e882d968958c623674fix: SSEP: 启用硬约束时使用 tunnel_constraints_ogm_ 进行碰撞检测，否则使用 ogm_editssep/scenarios/tractor_trailer_enter_yard_planner.hdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppb9e4184e63310b64757ecda7a87a85ac353321291781515680000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆高机靠近是否切换状态机的开关参数 新增 CfgFuncSw::use_func_stacker_close_switch_fsm_(默认 true), 控制 TaskAlignFsm move2lock / LockToDone 中堆高机靠近触发的状态机切换。 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-15 17:28:00 +0800b9e4184e63310b64757ecda7a87a85ac35332129feat: 添加堆高机靠近是否切换状态机的开关参数editdata/config/cfg_func_sw.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.cppalgorithm/plan/pjpo.cpp7b96a6a2732a9d5b6237c0c145012521be41fab41781517443000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 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 2026-06-15 17:57:23 +08007b96a6a2732a9d5b6237c0c145012521be41fab4refactor: 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editalgorithm/plan/pjpo.cppdata/ssep/field_junction_ec.hppdata/ssep/into_yard_junction_ec.cpp2f08ec55f85fce32706cf3970a8fe7fbbde0186f1781532209000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: <大谢>进堆场机场忽略终点约束 2026-06-15 22:03:29 +08002f08ec55f85fce32706cf3970a8fe7fbbde0186ffeat: <大谢>进堆场机场忽略终点约束editdata/ssep/field_junction_ec.hppeditdata/ssep/into_yard_junction_ec.cppdata/ssep/field_junction_ec.hppdata/ssep/out_yard_junction_ec.hppdata/ssep/into_yard_junction_ec.hppdata/ssep/out_yard_junction_ec.cpp721a4e31ae95125d507ef6d448280459093891141781600631000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化出堆场 + 短直线+ 进堆场场景的搜索 2026-06-16 17:03:51 +0800721a4e31ae95125d507ef6d44828045909389114refactor:优化出堆场 + 短直线+ 进堆场场景的搜索editdata/ssep/into_yard_junction_ec.hppeditdata/ssep/field_junction_ec.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/out_yard_junction_ec.hppdata/config/cfg_stage.cppscenarios/stage.cppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hppc2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1c1781603165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 - 新增 TaskConditionType::BETWEEN_YARD, 判定复用 IsThroughYard() (STRAIGHT_OUT/INTO_YARD_MULTI/SINGLE_BEFORE 四个 region) - 收窄 YARD_PJPO_SWITCH_ENABLED 为 IsInYard(), 与 BETWEEN_YARD 互斥, 避免堆场间时 PJPO 抢占 KEB - stage.cpp: task 运行失败日志降频 LOG_EVERY_N 1->100 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com> 2026-06-16 17:46:05 +0800c2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1cfeat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器editdata/config/cfg_stage.cppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.hppeditscenarios/stage.cppreplayer/replayer_data_process/replayer_data_process.cppdata/plan/guide_line.cppe3346d428150297af330c94301c0645ecb1776db1781615202000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:快照播放崩溃的bug 2026-06-16 21:06:42 +0800e3346d428150297af330c94301c0645ecb1776dbfix:快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/plan/guide_line.cppdata/map/pnc_map/pnc_map_path.cppc985b5d139bd58bfced869c12fd281635385d23d1781704635000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复停止线赋值的bug 2026-06-17 21:57:15 +0800c985b5d139bd58bfced869c12fd281635385d23dfix:修复停止线赋值的bugeditdata/map/pnc_map/pnc_map_path.cppCMakeLists.txt7208d3d12ea79d541e5468946bb14f96755e63211781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题 2026-06-17 22:44:01 +08007208d3d12ea79d541e5468946bb14f96755e6321fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题editCMakeLists.txtdata/map/envelop/map_envelop.cppae7311500c04fd8ac201a456995c22500151a2b81781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 MapEnvelop 扩展点距离参数以优化路径规划 2026-06-17 22:44:01 +0800ae7311500c04fd8ac201a456995c22500151a2b8fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划editdata/map/envelop/map_envelop.cppdata/map/reference/reference_road_section.hppdata/map/reference/reference_road_section.cppc9307e98a239504f9c8b930abc637985f93443541781707441000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性 2026-06-17 22:44:01 +0800c9307e98a239504f9c8b930abc637985f9344354refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性editdata/map/reference/reference_road_section.cppeditdata/map/reference/reference_road_section.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cce65ecba034e9ae68666f2a036d3ac12d4ef5c7d21782115296000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作 2026-06-22 16:01:36 +0800e65ecba034e9ae68666f2a036d3ac12d4ef5c7d2feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作editssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/deciders/lat_decider/path_bounds_decider.cpptasks/plan/smooth_task.cpp3ea23e0b598bb67c67622c88d38bdbd563dd7d441782371698000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败 在 GetBoundaryFromKinetics 中, 除 IsInIntoYardPlanner 外, 海侧路口区域 (IsInSeasideJunctionRegion) 同样触发 ssep_into_yard_replan 路径边界扩大, 解决下码头面车辆偏离参考线时 PJPO 因边界过窄求解失败的问题。 附带补充 SmoothTask 起点平滑日志(start_ref_point/overlap_distance)便于排查。 2026-06-25 15:14:58 +08003ea23e0b598bb67c67622c88d38bdbd563dd7d44fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppedittasks/plan/smooth_task.cpptasks/deciders/lat_decider/path_bounds_decider.cppc9fd9bbde51ad4efe2c55708d2f78334455aeb141782371704000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败 GetBoundaryFromKinetics 触发条件再补充 IsInOpenSpaceRegion, 使开放空间 区域偏离参考线时也走 ssep_into_yard_replan 边界扩大逻辑。 2026-06-25 15:15:04 +0800c9fd9bbde51ad4efe2c55708d2f78334455aeb14fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败edittasks/deciders/lat_decider/path_bounds_decider.cppdata/ssep/into_yard_junction_ec.cpp0df4a0712a596b8291cf5ce6adbe43f989093c0d1782371714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 GetEndStraightDis 中 DAXIE 区域且 is_normal_stacking_yard_ 时, terminal_constrain_dis 直接取 dst_accu_distance_after_end_stop_line_(不再扣除 5m straighten_extend_buffer), 避免 end_straighten_dis_ 被过度压缩导致进堆场 SSEP 搜索失败。 2026-06-25 15:15:14 +08000df4a0712a596b8291cf5ce6adbe43f989093c0dfix: 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editdata/ssep/into_yard_junction_ec.cppgittest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp2b92bade6ec7844f7261950678151e70a2cf2d681782357919000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:根据质量进行制动补偿功能比例定义错误修正 2026-06-25 11:25:19 +08002b92bade6ec7844f7261950678151e70a2cf2d68fix:根据质量进行制动补偿功能比例定义错误修正edittest/accel_to_pedal_converter_test.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppdata/ctrl/longctrl_data.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppmath/identification/parking_distance_estimator.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp85b4c0fcbb289743b53409770a2af8a8ef5dd5fb1782436455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加park adjust下对准停车功能 2026-06-26 09:14:15 +080085b4c0fcbb289743b53409770a2af8a8ef5dd5fbfeat: 增加park adjust下对准停车功能editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_proc_longctrl.hppeditmath/identification/parking_distance_estimator.hppeditdata/ctrl_frame.cppeditmath/identification/parking_distance_estimator.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditdata/config/cfg_proc_longctrl.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppeditdata/vehicle/vehicle_status.cppeditnode/process/prepare/prepare_attr.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp9bf44e248ab81a727da8630a453a09e17ac405a71782538173000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix : sc 远程步进修复 2026-06-27 13:29:33 +08009bf44e248ab81a727da8630a453a09e17ac405a7fix : sc 远程步进修复editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing286http://159.27.114.184:8080/jenkins/job/orin-slave64/286/284http://159.27.114.184:8080/jenkins/job/orin-slave64/284/