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git- data/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题
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2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.editdata/config/cfg_hmi.hppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditreplayer/logic.cpp
- data/decide/decide_reaction.hpp.gitignoreCMakeLists.txttasks/deciders/search_decider/forward_search_decider.cppdata/ssep/forward_ec.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD
2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/decide/decide_reaction.hppeditCMakeLists.txtedit.gitignoreedittasks/deciders/search_decider/forward_search_decider.cppeditdata/ssep/forward_ec.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck.
2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/other_decider/replan_decider.hpp
- data/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params.
2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cpp
- data/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue.
2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cpp
- plan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue.
2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse.
2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.hppedittasks/deciders/other_decider/replan_decider.cppeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cpp
- data/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection
2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cpp
- data/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching.
2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.editdata/plan/start_point_data.cppeditdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppedittasks/deciders/long_decider/constrain_decider.cppedittasks/deciders/long_decider/constrain_decider.hpp
- tasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status.
2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cpp
- data/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug.
2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cpp
- data/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos
2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cpp
- data/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑
2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cpp
- ssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题
2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
- ssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/planner_utils.ccbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑
2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/planner_utils.h
- ssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。
2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.cc
- data/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围
2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cpp
- data/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/config/cfg_env_const.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing
2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hpp
- data/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation.
2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cpp
- data/config/cfg_env_const.hppplan/prepare/prepare_status.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times.
2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cpp
- ssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离
2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- plan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug
2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cpp
- ssep/scenarios/truck_general_planner.hssep/scenarios/imv_enter_station_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/path_utils.ccssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task
2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/ssep_planner.cceditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/truck_general_planner.heditssep/scenarios/imv_exit_parking_spot_planner.heditssep/common/utils/path_utils.cceditssep/scenarios/imv_enter_station_planner.h
- ssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug
2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.cc
- plan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0
2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cpp
- thirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version.
2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hpp
- data/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer.
2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cpp
- ssep/offboard/servers/path_repository_vis_server.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/protos/path_repository.protossep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep
2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/scenarios/truck_accurate_reversing_planner.cceditssep/common/utils/map_element_utils.hppaddssep/offboard/servers/path_repository_vis_html_template.heditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/path_repository.protoaddssep/protos/operation_mode.protoaddssep/data_structures/state_match_condition.ccaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/protos/scene.protoaddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/data_structures/path_repository_manager.ccaddssep/protos/state_match_condition.protoeditssep/offboard/scene_replay/CMakeLists.txteditssep/CMakeLists.txtaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/CMakeLists.txteditssep/ssep_planner.heditssep/offboard/ssep_planner_wrapper.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/scenarios/truck_general_planner.heditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccaddssep/offboard/generate_path_repository/CMakeLists.txtaddssep/data_structures/state_match_condition.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
- ssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/protos/path_repository.protossep/maps/ogm_builder.ccssep/protos/ogm.protossep/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task
2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskaddssep/protos/ogm.protoeditssep/data_structures/path_utils.heditssep/maps/ogm.cceditssep/protos/path_repository.protoeditssep/offboard/servers/path_repository_vis_html_template.cceditssep/maps/ogm.heditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/data_structures/path_repository_manager.cceditssep/ssep_planner.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_repository_manager.heditssep/maps/ogm_builder.cc
- data/vehicle/related_offset.hppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppsource/ros_source_offset.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2
2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditsource/ros_source_offset.cppeditdata/vehicle/related_offset.hppeditplan/prepare/prepare_offset.cppeditdata/config/cfg_env_const.hpp
- data/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/plan_frame.hppdata/config/cfg_env_const.cppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus
2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/plan_frame.cppeditdata/plan_frame.hppadddata/vehicle/deviation_status.cppadddata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cpp
- data/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan.
2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hpp
- data/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align
2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hpp
- data/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align.
2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.edittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.cppeditdata/vehicle/related_offset.cppedithmi/draw/draw_ego.cppeditplan/prepare/prepare_offset.cppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cpp
- data/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading
2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times
2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.hpp
- data/plan_frame.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset
2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offsetedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppeditdata/plan_frame.cpp
- data/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn
2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cpp
- ssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率
2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_bulk_yark_in_out_planner.cc
- data/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error.
2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cpp
- ssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率
2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_bulk_yark_in_out_planner.cc
- ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度
2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/ssep_planner.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
- ssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题
2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.cc
- data/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance
2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cpp
- ssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题
2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.h
- ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题
2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
- ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题
2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
- ssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题
2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
- plan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station
2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cpp
- data/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception.
2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.edittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hpp
- data/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align
2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.hpp
- ssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/keb_optimizer/imv_keb_optimizer.hssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep
2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccaddssep/offboard/path_drawing_tool/path_drawing_html_template.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.cceditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/imv_keb_optimizer.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/keb_utils.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/keb_optimizer/keb_problem.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/ssep_planner.heditssep/scenarios/truck_general_planner.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/param_loader/param.heditssep/scenarios/planner_utils.heditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/data_structures/pose.heditssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/keb_optimizer/keb_utils.cceditssep/data_structures/path.haddssep/scenarios/tractor_trailer_short_distance_planner.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/protos/ogm.protoeditssep/maps/ogm.heditssep/data_structures/path.cceditssep/ssep_planner.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/protos/params.protoeditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/common/utils/scene_frame_visualization.cceditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cc
- data/decide/decide_reaction.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/decide/decide_reaction.hpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer
2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_trailereditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.cppeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.hpp
- data/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug
2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cpp
- scenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state.
2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditdata/config/cfg_func_sw.cppeditscenarios/scenario.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位
2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- hmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/throttle_chart.hpphmi/widget/velocity_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/widget/diagnose.cpphmi/common/chart.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时
2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/velocity_chart.cppedithmi/widget/command.hppedithmi/widget/diagnose.hppedithmi/widget/steer_chart.hppedithmi/widget/throttle_chart.hppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/velocity_chart.hppedithmi/widget/steer_chart.cppedithmi/widget/perf_cost_detail.cppedithmi/common/chart.hppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.cppedithmi/common/chart.cppedithmi/widget/command.cpp
- data/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type
2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题
2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/scenarios/tractor_trailer_general_planner.hssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2
2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/scenarios/tractor_trailer_general_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/scenarios/planner_utils.cceditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/imv_keb_optimizer.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/CMakeLists.txteditssep/scenarios/planner_utils.h
- data/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能edithmi/draw/draw_map.cppeditdata/ssep/field_junction_ec.cpp
- data/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题
2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率
2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- data/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug
2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditdata/common/guide_path.cppeditreplayer/replayer_data_process/replayer_data_process.cpp
- ssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/common/utils/clipper2/src/clipper.engine.cppssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/maps/ogm.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/maps/ogm_builder.hssep/scenarios/truck_accurate_reversing_planner.ccssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep
2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepeditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccaddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.version.heditssep/keb_optimizer/keb_problem.heditssep/CMakeLists.txtaddssep/common/utils/clipper2/src/clipper.offset.cppaddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/common/utils/clipper2/include/clipper2/clipper.export.haddssep/common/utils/clipper2/include/clipper2/clipper.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/maps/ogm_builder.ccaddssep/common/utils/clipper2/src/clipper.engine.cppeditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/cost_functions.heditssep/maps/ogm_builder.haddssep/common/utils/clipper2/include/clipper2/clipper.core.haddssep/keb_optimizer/distance_field_interpolator.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/maps/ogm.heditssep/data_structures/polyline.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/maps/ogm.ccaddssep/maps/ogm_config_utils.ccaddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditssep/scenarios/truck_accurate_reversing_planner.heditssep/ssep_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/scenarios/tractor_trailer_enter_yard_planner.h
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/ssep/forward_ec.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance
2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cpp
- tasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug
2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cpp
- ssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹
2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束
2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑
2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error
2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- math/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型
2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpp
- tasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态
- ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划
- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态
- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数
2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/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_backward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks
任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类;
其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行,
以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage
2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/stage.hppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/stage.cpp
- data/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索
ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false,
改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_,
日志同步改为 search from ego pose
2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cpp
- data/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger
2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cpp
- data/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation
2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpp
- tasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position.
2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cpp
- ssep/keb_optimizer/keb_problem.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限
2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/keb_problem.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- data/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line
2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cpp
- plan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state
2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cpp
- tasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening
2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppeditdata/plan/ssep_data.hppeditdata/config/cfg_func_sw.hppeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/forward_search_decider.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/coarse_search/batched_priority_queue.hssep/coarse_search/indexed_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/evaluator/heuristic_feature_computer.hssep/gpu/device_types.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍
2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍addssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/coarse_search/indexed_priority_queue.heditssep/gpu/collision/collision_checker.cuheditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/evaluator/heuristic_feature_computer.heditssep/coarse_search/batched_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/dubins_kernel.cuheditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/gpu/device_types.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/evaluator/evaluator.haddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/gpu_context.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/reeds_shepp_kernel.cuhaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/gpu_context.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题
2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数
2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
- data/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search
2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hpp
- data/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/deciders/long_decider/constrain_decider.cpptasks/plan/reversing_truck_path_task.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory
2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppedittasks/deciders/long_decider/constrain_decider.cppedittasks/plan/reversing_truck_path_task.cppeditdata/other/flow_control.cpp
- data/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束
2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cpp
- data/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/constrain_data.hppdata/constrain/long_target.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/plan_frame.hpptasks/deciders/long_decider/constrain_decider.cppdata/constrain/longitude_constrain.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放
在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。
2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.hppeditdata/constrain/constrain_data.cppeditdata/plan_frame.hppeditdata/constrain/longitude_constrain.hppeditdata/constrain/constrain_data.hppeditdata/constrain/long_target.cppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/config/cfg_long_plan.cppedittasks/deciders/long_decider/constrain_decider.cppadddata/constrain/obstacle_stop_constraint_stabilizer.hpp
- Testing/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景
增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。
2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景addTesting/obstacle_stop_constraint_stabilizer_test.cppeditCMakeLists.txt
- hmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断
在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。
2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cpp
- ssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtssep/offboard/main_test/main_ssep_input.cccd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建
适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。
2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/main_test/main_ssep_input.cc
- ssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial.
2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/css/style.cssaddssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/search-engines.html
- data/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定
指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。
新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。
2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hpp
- data/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束
WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。
2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cpp
- ssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器
2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器editssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.ccdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cceditssep/offboard/CMakeLists.txtaddssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.md
- plan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层
HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。
规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。
2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层edithmi/common/pnc_graphics_view.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/forward_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/out_yard_junction_ec.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/into_yard_junction_ec.cppeditplan/prepare/prepare_ogm.cppedithmi/widget/pnc_mat_shared.cppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditdata/ssep/reverse_ec.cppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/widget/pnc_mat.cppeditdata/config/cfg_func_sw.cppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.hppeditdata/ssep/hmi_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/open_space_ec.cpp
- common/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示
为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。
2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpp
- hmi/widget/map.cpphmi/widget/map.hpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度
HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。
2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.cppedithmi/widget/map.hpp
- ssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定
使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。
2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/test/CMakeLists.txteditssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/scenarios/planner_utils.cc
- ssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial
2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/vehicle-types.htmladdssep/keb_optimizer/tutorial/keb-problem.html
- data/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定
指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。
新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。
2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppedittasks/deciders/search_decider/forward_search_decider.cpp
- data/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束
WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。
2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cpp
- plan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hppdata/ssep/open_space_ec.cpphmi/common/pnc_graphics_view.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层
HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。
规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。
2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层editplan/prepare/prepare_ogm.cppeditdata/ssep/hmi_virtual_obs.hppeditdata/ssep/into_yard_junction_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/config/cfg_func_sw.cppedithmi/draw/draw_ssep_virtual_obs.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/ssep/forward_ec.cppadddata/ssep/hmi_virtual_obs_line.hppedithmi/draw/draw_all.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/out_yard_junction_ec.cppedithmi/draw/draw_ssep_virtual_obs.hppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditdata/ssep/open_space_ec.cppedithmi/widget/pnc_mat.cppedithmi/widget/pnc_mat_shared.cppeditdata/ssep/reverse_ec.cppedithmi/common/pnc_graphics_view.cppedithmi/widget/replayer_pnc_mat.cpp
- Testing/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出
重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。
2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editTesting/ssep_path_corridor_test.cppeditdata/other/flow_control.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppeditdata/other/ssep_path_corridor.cpp
- scenarios/scenario.cppscenarios/stage.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别
以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。
2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/scenario.cppeditscenarios/stage.cpp
- scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段
移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。
2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
- tasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpphmi/draw/draw_keb_debug.cppdata/plan_frame.hpptasks/plan/keb_path_optimize_task.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断
新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。
补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。
2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断editalgorithm/plan/keb_optimizer.cppaddhmi/draw/draw_keb_debug.cppedithmi/widget/diagnose.cppeditscenarios/scenario.cppedittasks/plan/keb_path_optimize_task.cppeditdata/plan_frame.cppeditdata/plan/keb_visualize_data.hppeditdata/plan_frame.hppedithmi/draw/draw_all.cppedittasks/plan/keb_utils.cppaddhmi/draw/draw_keb_debug.hppeditdata/config/cfg_hmi.cppedithmi/widget/pnc_mat_shared.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_path_optimize_task.hppedithmi/node_hmi.cppedittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_utils.hppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.hppedittasks/plan/keb_lane_follow_path_task.hpp
- data/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/dp_poly_path/trajectory_cost.cppdata/config/cfg_lat_decide.hppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应
取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。
让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。
2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editdata/dp_poly_path/trajectory_cost.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/config/cfg_lat_decide.hppeditdata/obstacle/obstacle_decider_attr.hppeditdata/config/cfg_lat_decide.cppadddata/obstacle/decision/obstacle_decision_test.cppadddata/dp_poly_path/trajectory_cost_test.cppeditdata/boundary/driving_corridor.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditconfig/config_imv/plan.yamleditdata/config/cfg_lat_plan.hppeditdata/config/cfg_lat_plan.cppeditCMakeLists.txt
- replayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断
记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。
2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cpp
- docs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案
规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。
2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.html
- data/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划
默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。
保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。
2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hpp
- data/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级
已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。
同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。
2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.hpp
- plan/prepare/prepare_ogm.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.cppplan/prepare/prepare_ogm.hpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测
通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。
将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。
2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测edithmi/draw/draw_map.cppeditplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cppeditcommon/util/hdmap_wrapper.cppedithmi/draw/draw_map.hppeditcommon/util/hdmap_wrapper.hpp
- tasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值
2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpp
- tasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理
将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。
同步更新类型说明，保持注释与处理逻辑一致。
2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cpp
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用
成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。
同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。
2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cpp
- data/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展
叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。
2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cpp
- Testing/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常
合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。
恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。
2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editdata/map/pnc_map/pnc_map.cppeditTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hpp
- data/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续
- standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数
- 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期
- 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界
- 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形
2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.cppeditdata/plan/switch_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/plan/start_point_data.hppedittasks/plan/pjpo_task.cpp
- math/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性
- 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置
- 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算
- 普通路径规划继续沿用历史默认设置
2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editalgorithm/plan/pjpo.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditmath/piecewise_jerk/piecewise_jerk_problem.cpp
- data/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围
- 非货叉部件障碍物的前后扩展距离由5米调整为3米
- 货叉头尾部件继续保持2米扩展距离
2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cpp
git- algorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp156250a2e7ada9a321c7cd15a992d98bae5850d71787052778000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车
2026-08-18 19:32:58 +0800156250a2e7ada9a321c7cd15a992d98bae5850d7feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车editalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hpp
- algorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp8afc7758e9023e25873624546b763cb4a15e5c791787055114000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SafePreprocess 优化
2026-08-18 20:11:54 +08008afc7758e9023e25873624546b763cb4a15e5c79feat: SafePreprocess 优化editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
- data/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppnode/process/proc/proc_longitude_controller.hppdata/ctrl_frame.cppAGENTS.mdalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppec73467c27dccefb955c3a74b30f306c9c2a06f31787629522000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准和刹车时的减速度积分防护
2026-08-25 11:45:22 +0800ec73467c27dccefb955c3a74b30f306c9c2a06f3feat: 对准和刹车时的减速度积分防护editdata/ctrl_frame.cppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppeditnode/process/proc/proc_longtiude_controller.cpp
git- interface/parser/map_loader.ccinterface/hdmap_impl.ccinclude/hdmap_interface/hdmap_impl.hinclude/hdmap_interface/public_data_struct.hinclude/hdmap_interface/hdmap.hinterface/hdmap.cc3418a9269a0892424cb5b1b42528fd3cdc725e921787219670000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: "增加GetConditionNoDrivingRegions接口"
2026-08-20 17:54:30 +08003418a9269a0892424cb5b1b42528fd3cdc725e92feat_out: "增加GetConditionNoDrivingRegions接口"editinclude/hdmap_interface/public_data_struct.heditinterface/parser/map_loader.cceditinclude/hdmap_interface/hdmap_impl.heditinterface/hdmap_impl.cceditinclude/hdmap_interface/hdmap.heditinterface/hdmap.cc
- include/hdmap_interface/public_data_struct.hbaaa7dbe0743898225ca422520bae8e624a4d3e11787284505000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 增加Region_Gate类型
2026-08-21 11:55:05 +0800baaa7dbe0743898225ca422520bae8e624a4d3e1feat_out: 增加Region_Gate类型editinclude/hdmap_interface/public_data_struct.h
githttp://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/caoxuecaoxuehttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing301http://159.27.114.184:8080/jenkins/job/orin-slave64/301/299http://159.27.114.184:8080/jenkins/job/orin-slave64/299/