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#429429false4291215246FAILURE1784262565137http://159.27.114.184:8080/jenkins/user/chenliang/my-views/view/all/job/orin-slave32/429/src/org/devops/vehicleInfo.groovy818b370658ab17902e69440a0aa56a3fc16a347b1784189965000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate vehicleInfo.groovy 2026-07-16 08:19:25 +0000818b370658ab17902e69440a0aa56a3fc16a347bUpdate vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovygitparams/shanghai-luojing-submodulefe4d069c1d668c268235bed4087a7578a3ef6e321784190153000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoAdd new file 2026-07-16 08:22:33 +0000fe4d069c1d668c268235bed4087a7578a3ef6e32Add new fileaddparams/shanghai-luojing-submoduleparams/shanghai-luojing-submoduleparams/shanghai-luojing-submodule.jenkinsfile9c9eaf3d2592c7dba583a721cb38cb095942288c1784190350000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate shanghai-luojing-submodule 2026-07-16 08:25:50 +00009c9eaf3d2592c7dba583a721cb38cb095942288cUpdate shanghai-luojing-submoduledeleteparams/shanghai-luojing-submoduleaddparams/shanghai-luojing-submodule.jenkinsfilehdmap/map-png.jenkinsfilec1459170520e28388ead1dc0200e31887959a0621784192485000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-07-16 09:01:25 +0000c1459170520e28388ead1dc0200e31887959a062Update map-png.jenkinsfileedithdmap/map-png.jenkinsfilegitins_driver/loader.cppsins/strapdown_truck.cpp61234d73c56dd6aafb191ec4f2ba995f137b235c1781236724000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autonote_out: 洋浦轮速判据放宽 2026-06-12 11:58:44 +080061234d73c56dd6aafb191ec4f2ba995f137b235cnote_out: 洋浦轮速判据放宽editins_driver/loader.cppeditsins/strapdown_truck.cppsins/strapdown_imv.cppfa50a05e70dac1cffde7341b006de559682f7e181782639325000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autofeat_out: imv标定优化 2026-06-28 17:35:25 +0800fa50a05e70dac1cffde7341b006de559682f7e18feat_out: imv标定优化editsins/strapdown_imv.cppsins/strapdown_truck.cppnode/msf_localization_node.cppcommon/fault_diagnoser.cppins_driver/ins_driver.cppins_driver/loader.cppnode/localization_msg_publisher.cppnode/localization_msg_publisher.hcommon/glog_helper.cc4a7835acc720aa9e7870eeae3a08166fb59107c21783342235000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autofeat_out: not exit when 100061 occurs, and log an additional lane detection topic 2026-07-06 20:50:35 +08004a7835acc720aa9e7870eeae3a08166fb59107c2feat_out: not exit when 100061 occurs, and log an additional lane detection topiceditnode/localization_msg_publisher.heditnode/localization_msg_publisher.cppeditsins/strapdown_truck.cppeditins_driver/loader.cppeditnode/msf_localization_node.cppeditins_driver/ins_driver.cppeditcommon/fault_diagnoser.cppeditcommon/glog_helper.ccsins/strapdown_truck.cppsins/sins_types.hdcf9d19f5d70178cb5efff9911da02224b62634c1783515192000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autofeat_out: passing through Daxie 986 2026-07-08 20:53:12 +0800dcf9d19f5d70178cb5efff9911da02224b62634cfeat_out: passing through Daxie 986editsins/sins_types.heditsins/strapdown_truck.cppsins/strapdown_truck.cpp0b50d34b74af7bcd57c9bf3e8460e84e7d0e25db1783910752000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autofeat_out: lateral difference between RTK and Lane in yangpu 2026-07-13 10:45:52 +08000b50d34b74af7bcd57c9bf3e8460e84e7d0e25dbfeat_out: lateral difference between RTK and Lane in yangpueditsins/strapdown_truck.cppsins/strapdown_truck.cppe1201acf820752a69ce00a8db0c0b05d0808d06c1783911024000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autofeat_out: lateral difference between RTK and Lane in yangpu 2026-07-13 10:50:24 +0800e1201acf820752a69ce00a8db0c0b05d0808d06cfeat_out: lateral difference between RTK and Lane in yangpueditsins/strapdown_truck.cppsins/strapdown.cpplocal_integ/msf_localization.cppcommon/fault_diagnoser.cppsins/strapdown.hsins/strapdown_imv.cppcommon/error.hsins/sins_types.h46cc636a63e16cbdf497367a163e83515ec7ca831784205006000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autonote_out: Warning are triggered for each of odoms 2026-07-16 20:30:06 +080046cc636a63e16cbdf497367a163e83515ec7ca83note_out: Warning are triggered for each of odomseditsins/sins_types.heditsins/strapdown.cppeditsins/strapdown_imv.cppeditcommon/error.heditcommon/fault_diagnoser.cppeditlocal_integ/msf_localization.cppeditsins/strapdown.hsins/strapdown.cpplocal_integ/msf_localization.cppcommon/fault_diagnoser.cppsins/strapdown.hsins/strapdown_imv.cppcommon/error.hsins/sins_types.hcba7424e77fb7fa0e73f92187a26569c3aca732e1784258221000http://159.27.114.184:8080/jenkins/user/mataomataomatao@senior.autoRevert "note_out: Warning are triggered for each of odoms" This reverts commit 46cc636a63e16cbdf497367a163e83515ec7ca83. 2026-07-17 11:17:01 +0800cba7424e77fb7fa0e73f92187a26569c3aca732eRevert "note_out: Warning are triggered for each of odoms"editcommon/fault_diagnoser.cppeditsins/strapdown_imv.cppeditsins/strapdown.heditcommon/error.heditsins/strapdown.cppeditlocal_integ/msf_localization.cppeditsins/sins_types.hgitdata/map/envelop/map_envelops.cppf2465adad2f30214486ed6c3cc446b6e77660e9f1782471717000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofix:内存问题修复测试 2026-06-26 04:01:57 -0700f2465adad2f30214486ed6c3cc446b6e77660e9ffix:内存问题修复测试editdata/map/envelop/map_envelops.cppdata/map/envelop/map_envelops.cpp8d8fc8fe71f58f96d192b653849d57121839fec61782473669000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofix:内存问题修复测试 2026-06-26 04:34:29 -07008d8fc8fe71f58f96d192b653849d57121839fec6fix:内存问题修复测试editdata/map/envelop/map_envelops.cppdata/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cpp682605ae5942205627501f18eef3ba732dd2ee3c1783005381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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 2026-07-02 23:16:21 +0800682605ae5942205627501f18eef3ba732dd2ee3c场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cppdata/scenario/scenario_planner_action.cppd34f7fb6b1983910d947ca2f83ee585ab76f24471783005386000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner 2026-07-02 23:16:26 +0800d34f7fb6b1983910d947ca2f83ee585ab76f2447BTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.cpptasks/plan/path_optimization_task.cppd64790461ff1e9a618695925dd44c64316001ae41783304843000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable wbca during esdf_map = nullptr 2026-07-06 10:27:23 +0800d64790461ff1e9a618695925dd44c64316001ae4fix: disable wbca during esdf_map = nullptredittasks/plan/path_optimization_task.cpptasks/plan/path_optimization_task.cpp41cc53088e5d158cc575af869afd1cc111c227201783305020000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable wbca during esdf_map = nullptr 2026-07-06 10:30:20 +080041cc53088e5d158cc575af869afd1cc111c22720fix: disable wbca during esdf_map = nullptredittasks/plan/path_optimization_task.cppdata/config/cfg_func_sw.cpptasks/plan/keb_utils.cppdata/config/cfg_func_sw.hppe4a421088e6b6f7aee72e04c2e231295c8da14801783312953000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comKEB 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。 2026-07-06 12:42:33 +0800e4a421088e6b6f7aee72e04c2e231295c8da1480KEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避edittasks/plan/keb_utils.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppssep/scenarios/tractor_trailer_enter_yard_planner.hc3897b9bdb5c83252532e20914509c7d65661fe71783318704000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题 2026-07-06 14:18:24 +0800c3897b9bdb5c83252532e20914509c7d65661fe7fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题editssep/scenarios/tractor_trailer_enter_yard_planner.halgorithm/wbca/linear_velocity_generator.cppalgorithm/wbca/wbca_manager.cppd39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf31783342788000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: unexpected route inverval 2026-07-06 20:59:48 +0800d39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf3fix: unexpected route invervaleditalgorithm/wbca/linear_velocity_generator.cppeditalgorithm/wbca/wbca_manager.cppdata/ssep/forward_ec.cppbc6d86213c1ff15b548abf3dd915b73ea8aa7e571783390979000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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)。 2026-07-07 10:22:59 +0800bc6d86213c1ff15b548abf3dd915b73ea8aa7e57feat: 拖挂进堆场无 passing 途径点时改用单段倒车editdata/ssep/forward_ec.cppdata/ssep/forward_ec.cpp4fc23d7d0b4236fcac78128c81fc8220c1eb7d481783391003000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索 2026-07-07 10:23:23 +08004fc23d7d0b4236fcac78128c81fc8220c1eb7d48feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索editdata/ssep/forward_ec.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h469a052c0e3a1b6d6c23b5bfad6b5090dbebaf931783410693000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 2026-07-07 15:51:33 +0800469a052c0e3a1b6d6c23b5bfad6b5090dbebaf93fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/keb_optimizer/imv_keb_optimizer.cca22277a45eff23c403063d58134dbdbd99da90ca1783416089000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 优化imv避障效果（回退sdf loss） 2026-07-07 17:21:29 +0800a22277a45eff23c403063d58134dbdbd99da90cachore: Keb: 优化imv避障效果（回退sdf loss）editssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.h3dd0f964b8c77d1b46a674becce1734c72e060541783422965000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 2026-07-07 19:16:05 +08003dd0f964b8c77d1b46a674becce1734c72e06054chore: 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.hdata/wbca/wbca_data.hppalgorithm/wbca/wbca_manager.cpptasks/plan/path_optimization_task.cppd08cbc8be096ae820b866a3dde2d1771342a3b631783431930000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: warm-start bug 2026-07-07 21:45:30 +0800d08cbc8be096ae820b866a3dde2d1771342a3b63fix: warm-start bugeditdata/wbca/wbca_data.hppeditalgorithm/wbca/wbca_manager.cppedittasks/plan/path_optimization_task.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h21a0e06624f66dc6703d77bd676c5703caf4fc771783499415000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑 2026-07-08 16:30:15 +080021a0e06624f66dc6703d77bd676c5703caf4fc77feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.htasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppa0b56a44d0f53a5e1b9edc91b6f6b3dc43448b841783515555000http://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 20:59:15 +0800a0b56a44d0f53a5e1b9edc91b6f6b3dc43448b84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.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_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_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/parking_scenario/parking_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.cpp1b62851c5b8b3657e8f36f0a6907e07d57a6b74b1783515585000http://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 20:59:45 +08001b62851c5b8b3657e8f36f0a6907e07d57a6b74brefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/stage.hppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppdata/ssep/bridge_junction_ec.cppc990680486ac0315a6dc372a54824e66f9cf4b7a1783515591000http://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 20:59:51 +0800c990680486ac0315a6dc372a54824e66f9cf4b7a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.cpptasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.cc4d3241f90aeda494cce7064f1ee3afdfa69911031783578051000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 调整避障参数，解决距离障碍物距离太近的问题 2026-07-09 14:20:51 +08004d3241f90aeda494cce7064f1ee3afdfa6991103fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题editoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_lane_follow_path_task.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h705d55953bfa28c60e7c32205a25fce0642c40881783590402000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: remove strcat 2026-07-09 17:46:42 +0800705d55953bfa28c60e7c32205a25fce0642c4088fix: SSEP: remove strcateditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/map/pnc_map/routing_extension/routing_data.cpp4b940c29b51dd847bea5729ac85f01c9b5837b2d1783591714000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: destination distance exception 2026-07-09 18:08:34 +08004b940c29b51dd847bea5729ac85f01c9b5837b2dfix: destination distance exceptioneditdata/map/pnc_map/routing_extension/routing_data.cppdata/obstacle/block.cpp72cb8313bcdb67e98625e34abb90fc48dac09efb1783911040000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID) 2026-07-13 10:50:40 +080072cb8313bcdb67e98625e34abb90fc48dac09efbblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)editdata/obstacle/block.cppalgorithm/wbca/imv_wbca_manager.cpp753c91b3c2828e366752290b615b03dd2503db2b1784024451000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca smooth mode bug 2026-07-14 18:20:51 +0800753c91b3c2828e366752290b615b03dd2503db2bfix: imv wbca smooth mode bugeditalgorithm/wbca/imv_wbca_manager.cppdata/ssep/into_yard_junction_ec.cppdb9852088a8685659c5d2a514467f0c3a043a94d1784029949000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 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 2026-07-14 19:52:29 +0800db9852088a8685659c5d2a514467f0c3a043a94dssep: 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editdata/ssep/into_yard_junction_ec.cppdata/ssep/open_space_ec.cppdata/map/reference/reference_line.cppdata/map/reference/reference_line.hpp334f7e6b591f70224a2ce59a9bf77c8e5f92ec641784029959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:出堆场直接open sapce上码头面搜索起点不合适的bug 2026-07-14 19:52:39 +0800334f7e6b591f70224a2ce59a9bf77c8e5f92ec64fix:出堆场直接open sapce上码头面搜索起点不合适的bugeditdata/ssep/open_space_ec.cppeditdata/map/reference/reference_line.cppeditdata/map/reference/reference_line.hppdata/ssep/normal_junction_ec.cpp2b8475bdb14b662acfee2cb39481684d3113ae6a1784029967000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 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)。 2026-07-14 19:52:47 +08002b8475bdb14b662acfee2cb39481684d3113ae6assep: 删除路口终点位姿的车头点框内回退校验editdata/ssep/normal_junction_ec.cppssep/maps/ogm.cc8328dcf4d1ffd9899770b804a78dc318a6700d421784029973000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:删除打印的日志 2026-07-14 19:52:53 +08008328dcf4d1ffd9899770b804a78dc318a6700d42feat:删除打印的日志editssep/maps/ogm.ccdata/config/cfg_func_sw.cppdce71e2b8c063039797da73999b2986ad4e6f52d1784029978000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 禁用前向搜索设置中的 theta 功能 2026-07-14 19:52:58 +0800dce71e2b8c063039797da73999b2986ad4e6f52dfix: 禁用前向搜索设置中的 theta 功能editdata/config/cfg_func_sw.cppalgorithm/wbca/wbca_manager.cppalgorithm/wbca/wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cpp7a2e36942a4c2b3bf93b0d98d1a6340e31595aeb1784033369000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca direct link mode bug 2026-07-14 20:49:29 +08007a2e36942a4c2b3bf93b0d98d1a6340e31595aebfix: wbca direct link mode bugeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/linear_velocity_generator.cppf85431cb05e0e7c164cf3be366a708c89e7956401784035722000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca velocity profile bug 2026-07-14 21:28:42 +0800f85431cb05e0e7c164cf3be366a708c89e795640fix: wbca velocity profile bugeditalgorithm/wbca/linear_velocity_generator.cppdata/ssep/ssep_ec.hppdata/ssep/ssep_ec.cppdata/vehicle/cloud_pnc_config.hpp360e40ff32048f35c5c75bcd9f4be93ab67685101784088332000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 适配云端access line 2026-07-15 12:05:32 +0800360e40ff32048f35c5c75bcd9f4be93ab6768510feat: 适配云端access lineeditdata/ssep/ssep_ec.cppeditdata/vehicle/cloud_pnc_config.hppeditdata/ssep/ssep_ec.hppalgorithm/plan/keb_optimizer.cppe2f0c15e9a21b38099c5448c01e4b4e244f4d3861784113716000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复Warm start频繁失败的问题 2026-07-15 19:08:36 +0800e2f0c15e9a21b38099c5448c01e4b4e244f4d386fix: Keb: 修复Warm start频繁失败的问题editalgorithm/plan/keb_optimizer.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp211ee4a470c1d5d83dafe07ea65bb65fef432a7d1784186340000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 2026-07-16 15:19:00 +0800211ee4a470c1d5d83dafe07ea65bb65fef432a7dfix: 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editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppplan/prepare/prepare_ogm.cppplan/prepare/prepare_ogm.hpp037d24ad730656b6b84ce85ecd9ff179d1e6286f1784186346000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 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 2026-07-16 15:19:06 +0800037d24ad730656b6b84ce85ecd9ff179d1e6286fperf: OGM精细碰撞采样点分级去重, 控制序列化体积editplan/prepare/prepare_ogm.cppeditplan/prepare/prepare_ogm.hppdata/vehicle/lock_station_data.cpp50a557ba5ed0e80690bfb2284a4aed695e47745e1784186360000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 2026-07-16 15:19:20 +080050a557ba5ed0e80690bfb2284a4aed695e47745efix: 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editdata/vehicle/lock_station_data.cppgitdata/vehicle/trailer_posture.cppdata/config/cfg_static.hppdata/config/cfg_static.cpp910a649914dc3515f51b8a11050ac9c0ecc539531783319489000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_compensation 2026-07-06 14:31:29 +0800910a649914dc3515f51b8a11050ac9c0ecc53953fix: add trailer_angle_compensationeditdata/vehicle/trailer_posture.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpp14371a5b3b57af39f79810d2b036549968786ea71783330071000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 步进模式下传给mpc的参考速度序列修正 2026-07-06 17:27:51 +080014371a5b3b57af39f79810d2b036549968786ea7feat: 步进模式下传给mpc的参考速度序列修正editalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppdata/vehicle/trailer_posture.cppnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppb0f8d76bff9bbb19bbeb318422d46e9553383add1783340694000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle compensation 2026-07-06 20:24:54 +0800b0f8d76bff9bbb19bbeb318422d46e9553383addfix: trailer angle compensationeditnode/process/prepare/prepare_traj.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/vehicle/trailer_posture.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp95b44b0683cde2c206bcb623b935c1b543df6eb21783671593000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性 2026-07-10 16:19:53 +080095b44b0683cde2c206bcb623b935c1b543df6eb2feat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.hppadddata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/ctrl/lateral_ctrl_debug_data.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/lateral_ctrl_debug_data.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp5c056ad3aea23ce67a66cdbbb4d49d33049a6f251783675937000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 将减速度标定质量独立 2026-07-10 17:32:17 +08005c056ad3aea23ce67a66cdbbb4d49d33049a6f25feat: 将减速度标定质量独立editdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppdata/config/cfg_creep.hppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.cppnode/sink/ros_sink_command.hppdata/ctrl_frame.cppdata/plan/plan_data.cpptest/controller_minimal_red_test.cppnode/process/proc/proc_move_step_controller.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.hppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppdata/plan/plan_data.hppnode/process/proc/proc_move_step_controller.cpp6534e8a1ade78a27cf7afb8b4fbd4eb26b84436c1784007272000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型新增横向平移和自转功能 2026-07-14 13:34:32 +08006534e8a1ade78a27cf7afb8b4fbd4eb26b84436cfeat: SC车型新增横向平移和自转功能editdata/ctrl_frame.cppeditdata/config/cfg_creep.hppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.cppeditnode/sink/ros_sink_command.hppeditdata/config/cfg_creep.cppeditnode/process/proc/proc_move_step_controller.cppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditnode/process/prepare/prepare_creep.hppeditdata/plan/plan_data.hppeditnode/process/proc/proc_move_step_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/plan/plan_data.cppeditnode/sink/ros_sink_command.cppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.hppeditnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp9df154e555b5f6b7456e440e199744897a7696c51784013710000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步阶段不再强制变更使用质量 2026-07-14 15:21:50 +08009df154e555b5f6b7456e440e199744897a7696c5fix: 起步阶段不再强制变更使用质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppnode/sink/ros_sink_command.cpp6801a2c3848d1ec3572cf601552ed6b7244a160a1784017052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底盘为空时认为静止 2026-07-14 16:17:32 +08006801a2c3848d1ec3572cf601552ed6b7244a160afeat: 底盘为空时认为静止editnode/sink/ros_sink_command.cppnode/sink/ros_sink_command.cpp124326ae01e4d4b7d2d767f65df25cd2e5235cae1784017622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: SC模式切换保护 2026-07-14 16:27:02 +0800124326ae01e4d4b7d2d767f65df25cd2e5235caefix: SC模式切换保护editnode/sink/ros_sink_command.cppnode/process/proc/proc_move_step_controller.cppd3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d11784021485000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC横移模式指令值更改 2026-07-14 17:31:25 +0800d3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d1feat: SC横移模式指令值更改editnode/process/proc/proc_move_step_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/longctrl_data.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppdata/config/cfg_lon_dynamic_mpc.cppcommon/util/error_code_data.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_error.hpp99aa91653de1a39900d7dbd1575428d8f1c6ac151784195668000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启 2026-07-16 17:54:28 +080099aa91653de1a39900d7dbd1575428d8f1c6ac15feat: 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