Started by user wuyanjunwuyanjunwuyanjunReplayed 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#985985false9851238967SUCCESS1786072593636http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-confname/985/- data/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cpptasks/deciders/long_decider/constrain_decider.hppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppconfig/config_car/plan.yaml2cb8008ddd943e956a7667b785fe21445e451fbc1785408966000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加堆高机侧向吊具高度防护
按堆高机与车身的横纵向位置及垂直朝向识别侧向作业场景。
场景内采用可配置的 5.5 米吊具高度阈值，并追加角度、横向距离和纵向容错配置及回放序列化。
2026-07-30 18:56:06 +08002cb8008ddd943e956a7667b785fe21445e451fbcfeat: 增加堆高机侧向吊具高度防护editdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditconfig/config_imv/plan.yamledittasks/deciders/long_decider/constrain_decider.hppedittasks/deciders/long_decider/constrain_decider.cppeditconfig/config_car/plan.yamleditconfig/config_truck/plan.yaml
- data/obstacle/perception_obstacle.cpphmi/draw/draw_perception.cppdata/obstacle/perception_obstacle.hpp24e2a381bfc70845ed38184b533569d90d508a051785409016000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 显示障碍物朝向与速度方向
修正速度方向访问器，并为外部聚类障碍物初始化速度方向。
HMI 使用较浅、较短的箭头区分 heading 和速度方向，同时过滤场桥虚拟障碍物及聚类障碍物。
2026-07-30 18:56:56 +080024e2a381bfc70845ed38184b533569d90d508a05feat: 显示障碍物朝向与速度方向editdata/obstacle/perception_obstacle.hppeditdata/obstacle/perception_obstacle.cppedithmi/draw/draw_perception.cpp
- data/common/sl_boundary.hppf41124c53ec2aa4a916cb59387feefcc7eec9a1d1785411717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 补充 SL 边界语义访问器
新增左右边界、中心位置及横纵向跨度访问接口，统一屏蔽 start/end 顺序差异。
补充数学函数直接依赖，并整理头文件格式。
2026-07-30 19:41:57 +0800f41124c53ec2aa4a916cb59387feefcc7eec9a1dfeat: 补充 SL 边界语义访问器editdata/common/sl_boundary.hpp
- data/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.cpp570a5354eaa718c4626c8bd24d1aefad515aa52b1785478691000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前窄路靠边车辆绕行判定
缩短动态障碍转静态时的确认帧数和近期位移窗口，降低停车后开始绕行的等待时间。\n\n靠边判断增加障碍外缘到真实道路边界的距离证据，使窄路上绝对横向偏移较小但实际已贴边的车辆能够及时放行；道路边界无效时保留原中心带判据。
2026-07-31 14:18:11 +0800570a5354eaa718c4626c8bd24d1aefad515aa52bfix: 提前窄路靠边车辆绕行判定editdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cpp
- data/dp_poly_path/dp_road_graph.cppdata/dp_poly_path/dp_road_graph.hpp9daeef8eed2c2e3f87c130bd6dde91ed5f7849271785481135000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止DP搜索中断后绕行路径错误回正
DP完整路径无解时，从最深层的最优可行节点回溯，仅保留无碰撞、无越界的搜索前缀。
保持失败帧不发起新绕行决策，并让后续路径边界维持中断前的绕行侧位置，避免采用硬约束节点之后的虚假回目标车道段。
2026-07-31 14:58:55 +08009daeef8eed2c2e3f87c130bd6dde91ed5f784927fix: 防止DP搜索中断后绕行路径错误回正editdata/dp_poly_path/dp_road_graph.hppeditdata/dp_poly_path/dp_road_graph.cpp
- tasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/obstacle/decision/obstacle_decision.hpptasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/obstacle/obstacle_decider_attr.hppdata/boundary/driving_corridor.hppea1ed71bd038fc6b4f93a9c4519f1904b52c55641785540986000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 稳定动态障碍绕行边界切换
隔离 UseHis 最终执行路径与动态交互路径，并改用原始可行 gap 计算窄会车空间，消除历史 DP 反灌造成的边界闪烁。
横向切入采用让速不让道，切入完成或障碍后缘超过自车后释放来源侧车道边界，同时保留 KEB 碰撞防护。
增加 OG 到 obj 的占用交接标签，以历史原始 OG 作为新 box 的成熟度证据；仅旁路 age，侧向与 KEB 构图均保留原始 bbox 且不额外膨胀。
2026-08-01 07:36:26 +0800ea1ed71bd038fc6b4f93a9c4519f1904b52c5564fix: 稳定动态障碍绕行边界切换editdata/boundary/driving_corridor.cppeditdata/obstacle/obstacle_decider_attr.hppedittasks/deciders/lat_decider/side_pass_decider.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/obstacle_decider_attr.cppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/boundary/driving_corridor.hppeditdata/obstacle/decision/obstacle_decision.cppedittasks/plan/keb_utils.cpp
- data/boundary/driving_corridor.cppdata/boundary/driving_corridor.hpp3b0e547e25d4f535a44a0549efb3910dd9a897ae1785547957000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 稳定窄路会车的 DP 采样边界
在自车纵向范围内延后边界收缩，并结合历史可行 gap、当前道路边界、安全缓冲和栅格余量保证最小通行空间。
锁存贴右进入与退出状态，对各采样断面的对向车几何独立做短时保持，避免快速来车时边界逐帧收缩和放开。
2026-08-01 09:32:37 +08003b0e547e25d4f535a44a0549efb3910dd9a897aefix: 稳定窄路会车的 DP 采样边界editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hpp
- data/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/decision/obstacle_decision.hpp8eb6c8060e6e7bb18987b2f6220a5a1beaa5be5c1785547965000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤未沿道路对齐的会车收边
MEETING 障碍只有通过沿当前道路逆向对齐确认后才能进入动态边界收窄，避免弯道外侧、支路横穿或调头车辆误触发狭窄会车。
补充 along 诊断字段，便于回放区分标签命中与沿路对开确认。
2026-08-01 09:32:45 +08008eb6c8060e6e7bb18987b2f6220a5a1beaa5be5cfix: 过滤未沿道路对齐的会车收边editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/boundary/driving_corridor.cpp
- data/dp_poly_path/trajectory_cost.cppc5d61657e629d304d2463ecfbb5a47b6b735b6f81785636337000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正 DP 动态障碍横向范围过滤
使用障碍物 SL 横向边界与走廊横向宽度进行比较，修复原先混用 s 边界造成的量纲错误。\n\n避免前方动态障碍被提前过滤，恢复 DP 动态碰撞代价的有效性。
2026-08-02 10:05:37 +0800c5d61657e629d304d2463ecfbb5a47b6b735b6f8fix: 修正 DP 动态障碍横向范围过滤editdata/dp_poly_path/trajectory_cost.cpp
- data/boundary/driving_corridor.cpphmi/draw/draw_perception.cppdata/obstacle/perception_obstacle.hppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/perception_obstacle.cppdata/dp_poly_path/dp_road_graph.cppdata/config/cfg_lat_plan.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/obstacle/obstacle_decider_attr.hppdata/plan/side_pass_data.hpp421fbda76064ca97a6705ec7761467e39bfc8e181785636360000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持受控低速车辆超车
新增清扫车和洒水车类型，支持明确类型授权与可配置速度门控的低速超车候选。\n\n实现单目标锁定、左侧单向 DP 采样、目标扫掠与短时掉帧占用、动作承诺及超车限速，并在切入、会车、路口、倒车和目标失效时统一退出。\n\n按道路姿态区分静止车辆绕行：纵向对齐车辆使用短等待，斜停或横停车辆仅在确认静止并长时间堵塞后开放，避免方向和靠边判据旁路姿态保护。\n\n补充配置、诊断标记和快照序列化兼容。
2026-08-02 10:06:00 +0800421fbda76064ca97a6705ec7761467e39bfc8e18feat: 支持受控低速车辆超车editdata/plan/side_pass_data.hppeditdata/boundary/driving_corridor.cppeditdata/obstacle/perception_obstacle.hppeditconfig/config_imv/plan.yamleditdata/plan/side_pass_data.cppeditdata/obstacle/obstacle_decider_attr.hppedithmi/draw/draw_perception.cppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/perception_obstacle.cppeditdata/dp_poly_path/dp_road_graph.cppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/config/cfg_func_sw.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_func_sw.cpp
- data/obstacle/decision/obstacle_decision.hppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp49b1706abe4aa9841141d718927fa1ac19f5282c1785724938000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧快速对向会车边界
快速对向车改用到达时刻对齐和局部参考线投影，投影异常时按当前状态匀速回退。
窄会车仅保留真实不足的断面，并按整组更新历史贴右区域，避免移动预测留下长尾收边和跨支路误收缩。
2026-08-03 10:42:18 +080049b1706abe4aa9841141d718927fa1ac19f5282cfix: 收紧快速对向会车边界editdata/boundary/driving_corridor.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/config/cfg_lat_plan.cpp
- data/dp_poly_path/dp_road_graph.cpptasks/deciders/lat_decider/trailer_side_pass_decider.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/dp_poly_path/dp_road_graph.hpp448bc5c581f7903a3befb73a05404843d9c8a9821785724938000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持绕行路径连续性
绕行未获得足够回中空间或本帧 DP 无解时，请求沿用历史路径，避免车辆提前回目标车道后陷入首层无解。
历史路径复用增加参考线锚点与当前可行走廊校验；校验失败时交由上层停车兜底，并修正拖挂路径使用错误参考线的问题。
2026-08-03 10:42:18 +0800448bc5c581f7903a3befb73a05404843d9c8a982fix: 保持绕行路径连续性editdata/dp_poly_path/dp_road_graph.hppedittasks/deciders/lat_decider/side_pass_decider.cppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/dp_poly_path/dp_road_graph.cpp
- sink/ros_sink_record_trigger.cpp75ddb364839d8c88ff2a9e802606bd70a9bac1e41785724938000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正录包触发模块标识
将快照录包触发消息的模块名由 decision 统一为 pnc，与当前节点其他对外消息保持一致。
2026-08-03 10:42:18 +080075ddb364839d8c88ff2a9e802606bd70a9bac1e4fix: 修正录包触发模块标识editsink/ros_sink_record_trigger.cpp
- data/plan/start_point_data.cpptasks/plan/lattice_task.cpp9e5d64af10fc422c8ec84088e9460b81e7fce5e01785749548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: recover lattice planner from stop fallback loop
2026-08-03 17:32:28 +08009e5d64af10fc422c8ec84088e9460b81e7fce5e0fix: recover lattice planner from stop fallback loopeditdata/plan/start_point_data.cppedittasks/plan/lattice_task.cpp
- plan/prepare/prepare_status.cpp8431c0cf7263b8e64e011c14543bcca8c13f58f01785766365000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 延迟普通出堆场区域切换
普通出堆场场景按挂尾所在路段确定反馈区域，挂尾仍在堆场或堆垛区时保持对应安全档位，完全离开后再切换为出堆场路口。
复用按需计算的挂尾路段查询，避免非相关场景执行额外地图查询，并保持 open space 原有逻辑不变。
2026-08-03 22:12:45 +08008431c0cf7263b8e64e011c14543bcca8c13f58f0fix: 延迟普通出堆场区域切换editplan/prepare/prepare_status.cpp
- plan/prepare/prepare_status.cpp6ee53cedccd00a851aa1e1bff39897eacd3f4e391785810177000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 稳定任务切换期间区域状态
车辆静止且 PNC local map 尚未稳定时沿用上一帧区域状态，地图恢复或车辆起步后退出保持。
通过新 routing 接收标志和 task id 变化识别任务首帧，避免场景状态尚未更新时短暂回退到普通道路或路口区域；保留 PARK_LOCK 专用判定优先级。
2026-08-04 10:22:57 +08006ee53cedccd00a851aa1e1bff39897eacd3f4e39fix: 稳定任务切换期间区域状态editplan/prepare/prepare_status.cpp
- data/config/cfg_lat_plan.hpp9a38fc7decf718c1b841c65117eda39a4e3524721785810183000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: serialize WBCA max cost
2026-08-04 10:23:03 +08009a38fc7decf718c1b841c65117eda39a4e352472fix: serialize WBCA max costeditdata/config/cfg_lat_plan.hpp
- plan/prepare/prepare_status.cpp9d2aba33a792be680c5fc0f7c831bb6c5f7993301785810195000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 低速出桥场景适配锁站安全档位
启用低速安全阈值调整时，将 REGION_OUT_BRIDGE 纳入锁站安全档位转换范围，避免该枚举因数值位于 REGION_STACKER 之后而被遗漏。
2026-08-04 10:23:15 +08009d2aba33a792be680c5fc0f7c831bb6c5f799330fix: 低速出桥场景适配锁站安全档位editplan/prepare/prepare_status.cpp
- plan/prepare/prepare_status.cppac11787464012c0e83e1569b4cb4cd4e08e95cec1785810457000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 延迟普通出堆场区域切换
普通出堆场场景按挂尾所在路段确定反馈区域，挂尾仍在堆场或堆垛区时保持对应安全档位，完全离开后再切换为出堆场路口。
复用按需计算的挂尾路段查询，避免非相关场景执行额外地图查询，并保持 open space 原有逻辑不变。
2026-08-04 10:27:37 +0800ac11787464012c0e83e1569b4cb4cd4e08e95cecfix: 延迟普通出堆场区域切换editplan/prepare/prepare_status.cpp
- plan/prepare/prepare_status.cpp15aa2c53ee934212b0e118c10d835b84583b6f4f1785810466000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 稳定任务切换期间区域状态
车辆静止且 PNC local map 尚未稳定时沿用上一帧区域状态，地图恢复或车辆起步后退出保持。
通过新 routing 接收标志和 task id 变化识别任务首帧，避免场景状态尚未更新时短暂回退到普通道路或路口区域；保留 PARK_LOCK 专用判定优先级。
2026-08-04 10:27:46 +080015aa2c53ee934212b0e118c10d835b84583b6f4ffix: 稳定任务切换期间区域状态editplan/prepare/prepare_status.cpp
- sink/ros_sink_record_trigger.cpp77e6f73460365691c176d980880690eeef0887961785810490000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正录包触发模块标识
将快照录包触发消息的模块名由 decision 统一为 pnc，与当前节点其他对外消息保持一致。
2026-08-04 10:28:10 +080077e6f73460365691c176d980880690eeef088796fix: 修正录包触发模块标识editsink/ros_sink_record_trigger.cpp
- data/plan/start_point_data.cpp3d509a03edfdeab52129e441824abdc769926fb81785811464000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: plan from history in low speed
2026-08-04 10:44:24 +08003d509a03edfdeab52129e441824abdc769926fb8fix: plan from history in low speededitdata/plan/start_point_data.cpp
- data/plan/start_point_data.cppeef8e9a6d8adc39d76cc7f720a1d7102ebdacd241785811528000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: plan from history in low speed
2026-08-04 10:45:28 +0800eef8e9a6d8adc39d76cc7f720a1d7102ebdacd24fix: plan from history in low speededitdata/plan/start_point_data.cpp
- plan/prepare/prepare_status.cpp81cc3105ee95e9695472b9b9eaccfebca6a8fba01785813948000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换
2026-08-04 11:25:48 +080081cc3105ee95e9695472b9b9eaccfebca6a8fba0fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换editplan/prepare/prepare_status.cpp
- data/scenario/scenario_planner_action.cppf196f370519ae2951f909d6067cbb575ca6936db1785820957000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正场景规划器过早退出判断
修正横向偏差与航向角阈值表达式的括号错误，避免将比较结果传入 fabs 导致左右判断不对称。
补齐出堆场区域切换判断，并校验搜索路径坐标长度，防止错误退出及无效路径访问。
2026-08-04 13:22:37 +0800f196f370519ae2951f909d6067cbb575ca6936dbfix: 修正场景规划器过早退出判断editdata/scenario/scenario_planner_action.cpp
- algorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/path_optimization/imv_path_optimization.cppalgorithm/wbca/path_optimization/truck_path_optimization.cpp12a6cda7e67d01b78624b8ff8f5a32cde12345481785822755000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update WBCA for truck and imv
2026-08-04 13:52:35 +080012a6cda7e67d01b78624b8ff8f5a32cde1234548fix: update WBCA for truck and imveditalgorithm/wbca/path_optimization/imv_path_optimization.cppeditalgorithm/wbca/imv_wbca_manager.hppeditalgorithm/wbca/path_optimization/truck_path_optimization.cppeditalgorithm/wbca/imv_wbca_manager.cpp
- data/ssep/forward_ec.cpp33881645b1d0f7249c5282aa400693a33d1766d61785825080000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持真石 IMV 按途经点多段停车
真石 IMV 进场且携带搜索途经点时，切换到 IMV 多段停车规划器并构建 pass posture。
收紧途经点支持范围，避免真石 CAR/TT 意外启用随机途经点采样，同时保持其他港区原有逻辑不变。
2026-08-04 14:31:20 +080033881645b1d0f7249c5282aa400693a33d1766d6feat: 支持真石 IMV 按途经点多段停车editdata/ssep/forward_ec.cpp
- data/constrain/pnc_junction.cppdata/constrain/disable_stop_range.cppdata/config/cfg_func_sw.hppdata/constrain/disable_stop_range.hppdata/config/cfg_func_sw.cppdata/constrain/pnc_junction.hpp7f05e7bba4a5deb2d5d0eddf91221c18cc2e77601785908676000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持右转路口前停车
新增默认关闭的右转路口停车功能开关。
根据路口转向类型识别标准右转并生成规则停车约束，同时增加独立停车原因便于区分。
2026-08-05 13:44:36 +08007f05e7bba4a5deb2d5d0eddf91221c18cc2e7760feat: 支持右转路口前停车editdata/constrain/disable_stop_range.cppeditdata/constrain/disable_stop_range.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppeditdata/constrain/pnc_junction.cppeditdata/constrain/pnc_junction.hpp
- algorithm/wbca/imv_wbca_manager.cpp910b9c72e0c270845ce3ef092e4ce64eb616768a1785924067000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: use history path for IMV direct link
2026-08-05 18:01:07 +0800910b9c72e0c270845ce3ef092e4ce64eb616768afix: use history path for IMV direct linkeditalgorithm/wbca/imv_wbca_manager.cpp
- algorithm/wbca/imv_wbca_manager.cppe8c56d84d6c5f40efb5d5ab3a8d3ffd273ff41d21785924191000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: use history path for IMV direct link
2026-08-05 18:03:11 +0800e8c56d84d6c5f40efb5d5ab3a8d3ffd273ff41d2fix: use history path for IMV direct linkeditalgorithm/wbca/imv_wbca_manager.cpp
- data/app/fsm/motion_fsm/motion_fsm.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppc4d88d1700cdc8e4586d2b4556e6a5f089d906fd1785931504000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复缓刹遇障碍后无法进入停止态
NStop 执行期间进入 MOVE_BRAKE 后保持障碍制动，避免 MOVE_NSTOP 与 MOVE_BRAKE 循环切换。
车辆静止退出 MOVE_BRAKE 时恢复 NN_STOP 停车原因，使 MotionStopFsm 直接进入 STOP_CTRL。
2026-08-05 20:05:04 +0800c4d88d1700cdc8e4586d2b4556e6a5f089d906fdfix: 修复缓刹遇障碍后无法进入停止态editdata/app/fsm/motion_fsm/motion_fsm.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
- tasks/deciders/other_decider/auto_startup_decider.cpptasks/deciders/long_decider/constrain_decider.cppdata/constrain/disable_stop_range.cppf8293dba8599ba00452082c32441324eccbb320b1785981808000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 右转停车后自动起步
右转停车约束使用路口停车类型，接入现有安全自动起步流程。
启用右转停车功能且确认标准右转时，停车 1.2 秒后自动尝试起步；其他路口停车保持原有 3 秒等待和障碍物检查逻辑。
2026-08-06 10:03:28 +0800f8293dba8599ba00452082c32441324eccbb320bfeat: 右转停车后自动起步edittasks/deciders/long_decider/constrain_decider.cppedittasks/deciders/other_decider/auto_startup_decider.cppeditdata/constrain/disable_stop_range.cpp
- algorithm/wbca/path_optimization/path_optimization.cppdata/lattice/trajectory_evaluator.cppc825ef8bcd28b95c856cb2a4c521715f38012b5c1785995088000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: speed down unexpectly in wbca smooth mode.
2026-08-06 13:44:48 +0800c825ef8bcd28b95c856cb2a4c521715f38012b5cfix: speed down unexpectly in wbca smooth mode.editalgorithm/wbca/path_optimization/path_optimization.cppeditdata/lattice/trajectory_evaluator.cpp
- data/vehicle/lock_station_data.cpp6e8c698095499413e06bbb4b1e350403d3c7ce5e1786016132000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复普通场景缓冲区数据失效问题
将缓冲区有效标记和距离更新移出堆高机场景判断，使通过基础路径匹配筛选的缓冲区点均能正常生效。
保留堆高机障碍物对缓冲区停车距离的动态调整逻辑。
2026-08-06 19:35:32 +08006e8c698095499413e06bbb4b1e350403d3c7ce5efix: 修复普通场景缓冲区数据失效问题editdata/vehicle/lock_station_data.cpp
githttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.crhttp://159.27.114.184:8080/jenkins/user/chenranchenran986http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-confname/986/984http://159.27.114.184:8080/jenkins/user/chenjunnan/my-views/view/all/job/module-confname/984/