Commit
95737210ab3b8548ebf8930d3c4267544256fd36
by tangwenqingchore: Keb: 忽略ssep_ec中缓存的real obstacles
|
 | tasks/plan/keb_utils.cpp |
Commit
24fd81a9d13c83e6652e19c559f8f82118f72887
by tangwenqingrefactor: SSEP: 移除ilqr集卡轨迹库功能
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 | ssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc |
| ssep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc |
| ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc |
| ssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc |
| ssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cc |
| ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc |
| ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc |
| ssep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.h |
| ssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc |
| ssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc |
| ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h |
| ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc |
| ssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.h |
| ssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.h |
Commit
d06067513a0b5bde9107fa12fb1bfdd64afad47f
by tangwenqingfeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限
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| ssep/keb_optimizer/tractor_trailer_keb_optimizer.h |
| ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc |
| ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc |
| ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h |
| ssep/keb_optimizer/keb_problem.cc |
| ssep/keb_optimizer/keb_problem.h |
Commit
f8e0b4f0d509e20cc24569fcda6a4e14fb765d12
by liuhongshuofix: 格式漂移更改 配置参数更改
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| data/obstacle/obstacle_decider_attr.cpp |
| data/obstacle/obstacle_decider_attr.hpp |
| CMakeLists.txt |
| sink/ros_sink_chassis_ctrl.cpp |
| data/config/cfg_func_sw.cpp |
| data/config/cfg_region.hpp |
| data/obstacle/obstacle.hpp |
| tasks/deciders/other_decider/alarm_decider.hpp |
| data/config/cfg_func_sw.hpp |
| tasks/deciders/other_decider/alarm_decider.cpp |
Commit
72d3639900cb42c6d339f7bf69736eb8099f709b
by chenranfix: revering in straight line
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| data/plan/start_point_data.cpp |
Commit
abc6a188c290e2ade83d974d1c3bdedd7b295b70
by chenranfix: is_in_straight_lane = false during park state
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| plan/prepare/prepare_status.cpp |
Commit
9152b3d115c2ef7450db98344b5e702217cd003a
by wuyanjun110fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入
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| data/app/fsm/task_fsm/task_fsm.cpp |
Commit
39bf5226ef6719b607a7d0542bf55d778e7d359d
by tangwenqingfeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍
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| ssep/coarse_search/gpu_context.cc |
 | ssep/gpu/heuristic/dubins_kernel.cuh |
| ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h |
| ssep/coarse_search/batched_priority_queue.h |
| ssep/coarse_search/indexed_priority_queue.h |
| ssep/coarse_search/bounded_priority_queue.h |
| ssep/gpu/heuristic/heuristic_batch_bridge.h |
| ssep/coarse_search/gpu_context.h |
| ssep/gpu/heuristic/heuristic_batch_bridge.cu |
| ssep/gpu/collision/collision_checker.cuh |
| ssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.h |
| ssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.h |
| ssep/coarse_search/evaluator/evaluator.h |
| ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc |
| ssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.h |
| ssep/gpu/device_types.h |
| ssep/gpu/heuristic/reeds_shepp_kernel.cuh |
| ssep/coarse_search/evaluator/heuristic_feature_computer.h |
| ssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc |
| ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc |
| ssep/scenarios/tractor_trailer_single_segment_parking_planner.h |
| ssep/coarse_search/evaluator/composite_heuristic_computer.h |
| ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h |
Commit
aaf191484e4e3f33b0ca49fe3b1749ebf8d2e9b2
by tangwenqingfix: SSEP: 修复变道轨迹末端可能画龙的问题
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| ssep/scenarios/tractor_trailer_lane_change_planner.h |
Commit
bacd6f75095ebef05f68e0eaf0414f92cb592fee
by tangwenqingchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题
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| ssep/scenarios/tractor_trailer_single_segment_parking_planner.h |
Commit
c2113047bac08d73e9035f2f77f37a6270bc6e0e
by wuyanjun110feat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景
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| data/config/cfg_region.cpp |
| data/ssep/forward_ec.cpp |
| data/config/cfg_region.hpp |
Commit
1e0426b45af918c79f26461ff56f81c6830e8b3b
by wuyanjun110feat: HMI快照按钮触发发SNAP录包(关掉决策结果保存)
- DecisionReaction 加一次性标志 hmi_req_record_snap_(不序列化/不入FromHis)
- logic plan循环消费快照按钮标志并当场复位, 修从不复位每帧触发问题
- 快照按钮不再置 save_decision_result
- RosSinkRecordTrigger 按钮标志与自动条件一并发 SNAP Trigger
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| data/decide/decide_reaction.hpp |
| data/decide/decide_reaction.cpp |
| sink/ros_sink_record_trigger.cpp |
| node/logic.cpp |
Commit
92088627602c301bd21d516bfa3654bcba0cc818
by wuyanjun110fix: 极限变道弯道tunnel沿参考线折线化, 补挂车offtracking裕量与急弯降级
极限变道的 tunnel 约束原本用单条长直线段近似弯曲车道, 弦误差为 L^2*kappa/8
(40m 直线在 R=100m 弯道上偏 2.0m), 而 end tunnel 的 HARD 管道半宽只有车道半宽
加 5cm(约2m), 弯道上管道与真实车道几乎不重叠, 起点/终点被墙关在外面, 导致
搜索必然失败。
- 折线化: 新增 AppendOffsetPolylineTunnel(沿参考线 2m 等 l 偏移折线) /
AppendCrossLineTunnel(等 s 断面法向封口线) / CalcMaxCurvature(theta 差分
带符号曲率), 替换四处弦近似: ConstructStartTunnel 两条侧墙+横切线、
ConstructEndTunnel 左右管道+后端封口、ConstructObsTunnel、
GetRealObstacleTunnel。横向量统一为 SL 约定(左正右负), 与旧
GetParallelLine "线段方向右侧为正"、且纵向线反向构造致法向翻转的隐式约定等价
- 弯道裕量: end tunnel 补挂车 offtracking(L^2*kappa/2, 上限 1.2m, 按曲率符号
只放宽弯道内侧, 仅带挂车型); 后向管道长度按曲率收缩(kappa>0.01 起, 最短 8m)
- 急弯兜底: kappa>0.02(R<50m) 且端约束为 HARD 且带挂时降级为 SOFT, IMV 不降级
- 顺带修: s 超出参考线长度时线段退化的隐患; SL 法向外推在 |l|*kappa 接近 1 时
跨过曲率中心翻折成幽灵墙, 按局部曲率钳制横向跨度; 曲率采样改用插值的
GetReferencePoint, 避免最近离散点致曲率被静默低估为 0
灰度 use_func_lc_tunnel_curvature_fit / use_func_lc_tunnel_curvature_margin,
cfg_func_sw 序列化 version 15。replay 与实车均未验证。
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| data/config/cfg_func_sw.cpp |
| data/ssep/ex_lane_change_ec.cpp |
| data/config/cfg_func_sw.hpp |
Commit
f1428f8abec3436c16f956438d3cee9d86caf730
by lanxiaosongfix: 修复recovery后OpenWriter竞态导致载物相机永久失联
recovery线程设置needs_stream_reinit_时，采集线程可能正阻塞在
ReadBuffer()内；旧V4L2流的残留帧会触发成功路径，在V4L2未完成
重初始化前调用OpenWriter()，导致writer_.open()（NVENC初始化）
在硬件刚复位后无限阻塞，线程永久挂死，相机无法恢复。
修复：在OpenWriter()调用条件中加入!needs_stream_reinit_.load()，
确保只有V4L2流真正重初始化完成后才重启RTSP推流。
via [HAPI](https://hapi.run)
Co-Authored-By: HAPI <noreply@hapi.run>
|
| src/camera/camera_driver_cuda.cpp |
Commit
0a71f5fa05c29bbc88d80081080e11c3b7b70f4b
by lanxiaosongfix: 修复recovery后采集线程阻塞在OpenWriter导致相机永久失联
ReadCameraIO的V4L2流重建与成功读帧在同一轮内完成,重建后
needs_stream_reinit_已为false,成功分支随即在采集线程上直接调用
OpenWriter(),在硬件刚复位时初始化NVENC导致writer_.open()无限阻塞,
专属采集线程永久挂死,相机停止出图/发布且无法再次触发recovery
(仅加!needs_stream_reinit_守卫无效)。
修复:
1. 采集线程不再直接调用阻塞的OpenWriter(),改为置rtsp_state_=kClosed
把RTSP重开交给独立推流线程PushStream执行;即使NVENC阻塞也只影响推流,
采集线程始终保持出图与ROS发布。
2. V4L2流重建后等待若干连续稳定帧(frames_since_reinit_)再通知重开,
给硬件/NvMMLite留稳定时间。
3. rtsp_reopen_handed_off_握手标志防止重复通知。
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| src/camera/camera_driver_cuda.h |
| src/camera/camera_driver_cuda.cpp |
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