[Jenkins]Jenkins

Changes

Summary

  1. fix: 统一pnc_debug_msg/ObserverDebug.msg (details)
  2. feat: 手动rebase交通管制v2 msg变更 (details)
  3. feat: 手动rebase交通管制v2 msg变更 (details)
  4. 添加新消息——跨运车z向抱夹到位 (details)
  5. 添加新消息——跨运车z向抱夹到位 (details)
  6. feat: 手动rebase交通管制v2 msg变更 (details)
  7. feat: 手动rebase交通管制v2 msg变更 (details)
  8. feat_out:增加吉利锁具控制 (details)
  9. feat: 手动rebase交通管制v2 msg变更 (details)
  10. feat_out:新增吉利锁具控制 (details)
  11. feat: 手动rebase交通管制v2 msg变更 (details)
  12. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  13. 添加载物状态及其枚举值&&车型错误标志 (details)
  14. 添加载物状态及其枚举值&&车型错误标志 (details)
  15. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 (details)
  16. feat: 手动rebase交通管制v2 msg变更 (details)
  17. feat: 添加货物分段长度字段和逃逸场景类型 (details)
  18. 添加车型匹配bool字段 (details)
Commit 4de4986bc8bb6959f1d31983148bf959dd76640d by liuhongshuo
fix: 统一pnc_debug_msg/ObserverDebug.msg
The file was modifiedpnc_debug_msgs/msg/ObserverDebug.msg
Commit b34e00e37e0d3a5818ba0ebb75422c11ae3b6b28 by zhuxiaolong
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit aed54f80025d95dc2fa58fadb5f26bd1c46d4b0d by zhuxiaolong
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 0bf8bca044aa2d9364b02efff468438ff651c1c2 by liuwenjing
添加新消息——跨运车z向抱夹到位
The file was modifiedalign_msgs/CMakeLists.txt
The file was addedalign_msgs/msg/TargetCarStatus.msg
Commit b8f59b921d1a229a9a39dc06f08a35101d710294 by liuwenjing
添加新消息——跨运车z向抱夹到位
The file was addedalign_msgs/msg/TargetCarStatus.msg
The file was modifiedalign_msgs/CMakeLists.txt
Commit bcbc5de637a9a70f2d4a3f32247a71a67dbfd4a0 by zhuxiaolong
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 549daf0fc4e7c8f469ba1807acf334525ddb939b by wuyanjun110
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit d2d1816d65aec8f872cc6f61052bdcb8c64e73e5 by zhaojianfeng2
feat_out:增加吉利锁具控制
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
The file was addedtmp/aha/dconf/user
The file was added.marscode/deviceInfo.json
Commit 28d550621b9b5b7a5c1e61e58845772ff4c1525c by 5081703.cr
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 7d1f2976915d6191037ca802663b6fcf5c952867 by zhaojianfeng2
feat_out:新增吉利锁具控制
The file was modifiedperipheral_msgs/msg/PeripheralOperateState.msg
The file was modifiedtos_msgs/msg/PeripheralCmd.msg
Commit eadbbf60c2f42f9cc816ea239eb5310f19bef058 by wuyanjun110
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 876f0ac7f688fcb989d1343dc7bfac606a98615e by wuyanjun110
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacle.msg
Commit 4a63c7fafd07ee96114547c4152c16c5b153898f by liuwenjing
添加载物状态及其枚举值&&车型错误标志
The file was modifiedalign_msgs/msg/TargetCarStatus.msg
Commit dbde87dac06d38fa0c632d2b48b972820d01c3f1 by liuwenjing
添加载物状态及其枚举值&&车型错误标志
The file was modifiedalign_msgs/msg/TargetCarStatus.msg
Commit 7d57dd6412d4746df29e6b22eeda874d2244b0cd by zhaojianfeng2
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义

The file was modifiedguardian_msgs/CMakeLists.txt
The file was addedguardian_msgs/msg/ParallelObstacle.msg
The file was addedguardian_msgs/msg/ParallelObstacleReport.msg
Commit db51c891fddcf73babce98115f7526d2860bd6c4 by 5081703.cr
feat: 手动rebase交通管制v2 msg变更

The file was modifiedcomm_msgs/msg/Traj.msg
Commit 063d531a478250750e71384bff10ecd00da9d00f by wuyanjun110
feat: 添加货物分段长度字段和逃逸场景类型
The file was modifiedads_msgs/msg/Target.msg
Commit 87e2add8eda2f4683844d03b1c06fbef5e37a29f by liuwenjing
添加车型匹配bool字段
The file was modifiedalign_msgs/msg/TargetCarStatus.msg

Summary

  1. fix:内存问题修复测试 (details)
  2. fix:内存问题修复测试 (details)
  3. fix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。 (details)
  4. fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 (details)
  5. feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示 (details)
  6. feat: PJPO 增加软曲率约束并优化起点处理 (details)
  7. feat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理 (details)
  8. feat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算 (details)
  9. feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理 (details)
  10. feat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合 (details)
  11. feat: 变道 OGM 碰撞检测点 HMI 标红可视化 (details)
  12. feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值 (details)
  13. feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑 (details)
  14. fix:  Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径 (details)
  15. feat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离 (details)
  16. 重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域 (details)
  17. 修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 group (details)
  18. feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果 (details)
  19. 场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 (details)
  20. BTActRunPlanner: 进入海侧路口区域时退出常规 planner (details)
  21. 场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 (details)
  22. BTActRunPlanner: 进入海侧路口区域时退出常规 planner (details)
  23. feat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题 (details)
  24. fix: imv wbca crash bug (details)
  25. fix: disable wbca during esdf_map = nullptr (details)
  26. fix: disable wbca during esdf_map = nullptr (details)
  27. KEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避 (details)
  28. fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题 (details)
  29. fix: unexpected route inverval (details)
  30. feat: 拖挂进堆场无 passing 途径点时改用单段倒车 (details)
  31. feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索 (details)
  32. fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 (details)
  33. chore: Keb: 优化imv避障效果（回退sdf loss） (details)
  34. chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 (details)
  35. fix: warm-start bug (details)
  36. feat: SSEP: 调整集卡多段倒车拉直逻辑 (details)
  37. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
  38. refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks (details)
  39. 桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 (details)
  40. fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题 (details)
  41. fix: SSEP: remove strcat (details)
  42. fix: destination distance exception (details)
  43. block: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID) (details)
  44. fix: imv wbca smooth mode bug (details)
  45. ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框 (details)
  46. fix:出堆场 直接open sapce上码头面搜索起点不合适的bug (details)
  47. ssep: 删除路口终点位姿的车头点框内回退校验 (details)
  48. feat:删除打印的日志 (details)
  49. fix: 禁用前向搜索设置中的 theta 功能 (details)
  50. fix: wbca direct link mode bug (details)
  51. fix: wbca velocity profile bug (details)
  52. feat: 适配云端access line (details)
  53. fix: Keb: 修复Warm start频繁失败的问题 (details)
  54. fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段 (details)
  55. perf: OGM精细碰撞采样点分级去重, 控制序列化体积 (details)
  56. fix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出 (details)
Commit f2465adad2f30214486ed6c3cc446b6e77660e9f by haoxiangtao
fix:内存问题修复测试
The file was modifieddata/map/envelop/map_envelops.cpp
Commit 8d8fc8fe71f58f96d192b653849d57121839fec6 by haoxiangtao
fix:内存问题修复测试
The file was modifieddata/map/envelop/map_envelops.cpp
Commit 4087e2163c2b30f8fb152efde2d0612718dbb0dc by tangwenqing
fix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit f7249bacf26ce9e5f0c547161e6b20c21212f097 by tangwenqing
fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题

The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit a792e8252fb9ffb453c1c3472598c59b44671b51 by wuyanjun110
feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示
The file was modifieddata/plan/cloud_trajectory.hpp
Commit b7dbb9a609c445bef1a6e6740c93f76b85c4565b by wuyanjun110
feat: PJPO 增加软曲率约束并优化起点处理

- piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退
- pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激
- 补充 pjpo 曲率约束相关测试
- 清理 PJPO 调试 trace 日志
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.cpp
The file was modifiedalgorithm/plan/pjpo.hpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_path_problem.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.hpp
The file was modifiedTesting/pjpo_case_test.cpp
The file was modifiedalgorithm/plan/pjpo.cpp
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_path_problem.hpp
Commit 965d7b2a75bafa32202b4c386c097d9f3dd662f8 by wuyanjun110
feat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 89119eedda78c243c52dcf28b819bcaf596d458a by wuyanjun110
feat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
Commit 93918e80527f8f7b718da6994ce59587e4087a24 by wuyanjun110
feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理
The file was modifieddata/plan/start_point_data.cpp
Commit 2881e36fca41bd9ae4d967d26eddb4d6117dd43d by wuyanjun110
feat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合

- CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate
  (跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判
- 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定
- 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/plan/switch_data.cpp
Commit df8ea0ed18c380880597450188436adbaf42b3e6 by wuyanjun110
feat: 变道 OGM 碰撞检测点 HMI 标红可视化

CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化),
DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。
upper/underlying 两层都判断, 下层碰撞时短路跳过上层。
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/plan/switch_data.hpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifieddata/plan/switch_data.cpp
The file was modifiedhmi/draw/draw_area.cpp
The file was modifiedhmi/draw/draw_area.hpp
Commit 8acf76576fdb77b153e5472b588d07b769012797 by wuyanjun110
feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值

新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项,
锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0;
修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/config/cfg_safe_const.cpp
Commit 93284b6b898f83da2fb2d3be5561dc8d2826f770 by wuyanjun110
feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifieddata/plan/smooth_data.cpp
The file was modifiedtasks/plan/pjpo_task.hpp
Commit 92d0e0be4b06853615aeeb5832cbe87e382faa68 by tangwenqing
fix:  Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径

The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit 2a07415f0d6a3151c058882dfa307f69bb6cc136 by wuyanjun110
feat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedsink/ros_sink_pnc_status.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 532faa6b508d1177a3642e663079cabd4114de4d by wuyanjun110
重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域

- 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框
- open_space_ec 起点框内联逻辑改为调用该函数
- into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/online_region_contour_creator.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit cc74e335904e25e57018da0c2a3a0bc6c7f69057 by wuyanjun110
修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 group
The file was modifiedscenarios/stage.cpp
Commit a7c5fb041881154e18f4df7f2b1605ce023db3c0 by wuyanjun110
feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
Commit 2bbd2fb7ee835a3c61b859336e93797bc7d40e10 by wuyanjun110
场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判

- U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE)
- 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
Commit 76b17b6698b320a0995125d13bbf32f3eb24810f by wuyanjun110
BTActRunPlanner: 进入海侧路口区域时退出常规 planner
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit 682605ae5942205627501f18eef3ba732dd2ee3c by wuyanjun110
场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判

- U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE)
- 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/scenario/scenario_region_bt.cpp
Commit d34f7fb6b1983910d947ca2f83ee585ab76f2447 by wuyanjun110
BTActRunPlanner: 进入海侧路口区域时退出常规 planner
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit f354f26aed1119909f4b5eee277a8dfb1c7fe9bd by tangwenqing
feat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题

The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 15f59cf516b4828241ba12039ef21f8630e7f54e by chenran
fix: imv wbca crash bug
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit d64790461ff1e9a618695925dd44c64316001ae4 by chenran
fix: disable wbca during esdf_map = nullptr
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 41cc53088e5d158cc575af869afd1cc111c22720 by chenran
fix: disable wbca during esdf_map = nullptr
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit e4a421088e6b6f7aee72e04c2e231295c8da1480 by wuyanjun110
KEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避

碰撞检测不需要路边点, 故 prepare 阶段未写入 OGM 栅格。KEB 在栅格副本上
补画下层路边采样点再抽取轮廓线, 不污染碰撞用栅格。新增开关
use_func_keb_add_roadside_segments_(默认 false), 仅下层补充。
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit c3897b9bdb5c83252532e20914509c7d65661fe7 by tangwenqing
fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit d39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf3 by chenran
fix: unexpected route inverval
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit bc6d86213c1ff15b548abf3dd915b73ea8aa7e57 by wuyanjun110
feat: 拖挂进堆场无 passing 途径点时改用单段倒车

TT 进堆场场景下, 当搜索不到 passing 途径点
(is_have_search_passing_pt_ 为 false)时, 改用
kTractorTrailerSingleSegmentParking 单段倒车规划;
并恢复 ScenarioPlannerFactory 中单段倒车 planner 的真正构造
(原先复用 MultiSegmentParkingPlanner)。
The file was modifieddata/ssep/forward_ec.cpp
Commit 4fc23d7d0b4236fcac78128c81fc8220c1eb7d48 by wuyanjun110
feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索
The file was modifieddata/ssep/forward_ec.cpp
Commit 469a052c0e3a1b6d6c23b5bfad6b5090dbebaf93 by tangwenqing
fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹

The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
Commit a22277a45eff23c403063d58134dbdbd99da90ca by tangwenqing
chore: Keb: 优化imv避障效果（回退sdf loss）

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit 3dd0f964b8c77d1b46a674becce1734c72e06054 by tangwenqing
chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit d08cbc8be096ae820b866a3dde2d1771342a3b63 by chenran
fix: warm-start bug
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 21a0e06624f66dc6703d77bd676c5703caf4fc77 by tangwenqing
feat: SSEP: 调整集卡多段倒车拉直逻辑

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit a0b56a44d0f53a5e1b9edc91b6f6b3dc43448b84 by wuyanjun110
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
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
Commit 1b62851c5b8b3657e8f36f0a6907e07d57a6b74b by wuyanjun110
refactor: 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
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_lane_change_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_cancel_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_preapre_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_prepare_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_move_stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_prepare_stage.cpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
Commit c990680486ac0315a6dc372a54824e66f9cf4b7a by wuyanjun110
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
The file was modifieddata/ssep/bridge_junction_ec.cpp
Commit 4d3241f90aeda494cce7064f1ee3afdfa6991103 by tangwenqing
fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题

The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
Commit 705d55953bfa28c60e7c32205a25fce0642c4088 by tangwenqing
fix: SSEP: remove strcat

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 4b940c29b51dd847bea5729ac85f01c9b5837b2d by chenran
fix: destination distance exception
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 72cb8313bcdb67e98625e34abb90fc48dac09efb by wuyanjun110
block: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)
The file was modifieddata/obstacle/block.cpp
Commit 753c91b3c2828e366752290b615b03dd2503db2b by chenran
fix: imv wbca smooth mode bug
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit db9852088a8685659c5d2a514467f0c3a043a94d by wuyanjun110
ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 334f7e6b591f70224a2ce59a9bf77c8e5f92ec64 by wuyanjun110
fix:出堆场 直接open sapce上码头面搜索起点不合适的bug
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/map/reference/reference_line.cpp
The file was modifieddata/map/reference/reference_line.hpp
Commit 2b8475bdb14b662acfee2cb39481684d3113ae6a by wuyanjun110
ssep: 删除路口终点位姿的车头点框内回退校验

终点区域已扩大且终点支持动态调整, 该直矩形点包含校验失去保护意义,
且在出口车道大曲率时误杀(回退到停止线得到未拉直的终点位姿)。
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit 8328dcf4d1ffd9899770b804a78dc318a6700d42 by wuyanjun110
feat:删除打印的日志
The file was modifiedssep/maps/ogm.cc
Commit dce71e2b8c063039797da73999b2986ad4e6f52d by wuyanjun110
fix: 禁用前向搜索设置中的 theta 功能
The file was modifieddata/config/cfg_func_sw.cpp
Commit 7a2e36942a4c2b3bf93b0d98d1a6340e31595aeb by chenran
fix: wbca direct link mode bug
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit f85431cb05e0e7c164cf3be366a708c89e795640 by chenran
fix: wbca velocity profile bug
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 360e40ff32048f35c5c75bcd9f4be93ab6768510 by tangwenqing
feat: 适配云端access line

The file was modifieddata/vehicle/cloud_pnc_config.hpp
The file was modifieddata/ssep/ssep_ec.hpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit e2f0c15e9a21b38099c5448c01e4b4e244f4d386 by tangwenqing
fix: Keb: 修复Warm start频繁失败的问题

The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit 211ee4a470c1d5d83dafe07ea65bb65fef432a7d by wuyanjun110
fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 037d24ad730656b6b84ce85ecd9ff179d1e6286f by wuyanjun110
perf: OGM精细碰撞采样点分级去重, 控制序列化体积

精细碰撞开启时采样点不再全量保留:
- 引导线路径带(半径12m, 1m粗块掩码)内按1/4 cell子格去重,
  位置误差上界约3.5cm, 每cell至多16点
- 路径带外及无引导线时退化为每cell仅保留首点(等同旧抽稀密度)
- 栅格写入逻辑不变, 仅瘦身采样点集; 精细开关关闭时行为不变
- 顺手收拢龙须/上下层四处重复写入分支为AddPoint
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
Commit 50a557ba5ed0e80690bfb2284a4aed695e47745e by wuyanjun110
fix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出
The file was modifieddata/vehicle/lock_station_data.cpp