Started by user wuyanjunwuyanjunwuyanjunReplayed 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2026-07-29 07:49:26 +0000f34d29a917119b33a0b3f6210b915d1f019ec8d4Update push.groovyeditsrc/org/devops/push.groovy
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2026-07-29 09:17:22 +00000b632f42faaa21937b44b378f9b60149b59119e9Update orin32Choice.groovyeditsrc/org/orin/orin32Choice.groovy
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2026-07-29 09:17:42 +0000b001b006564861bed2712e1c818192f9ee050c29Update orin64Choice.groovyeditsrc/org/orin/orin64Choice.groovy
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2026-07-29 09:18:04 +0000c1547e829980d9d7d746fe6daf3a5869d713ab69Update orinModule32Choice.groovyeditsrc/org/orin/orinModule32Choice.groovy
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2026-07-29 09:18:23 +00002f37cc454475036b98eb6744a97f14a462235800Update orinModule64Choice.groovyeditsrc/org/orin/orinModule64Choice.groovy
git- params/hainan-yangpu-submodule.jenkinsfile8bd4ce3927507ca38321c1f3f42db2e7cde5eb1b1785213163000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile
2026-07-28 04:32:43 +00008bd4ce3927507ca38321c1f3f42db2e7cde5eb1bUpdate hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfile
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2026-07-28 07:45:55 +0000bc09b8ff24cbba615ddc5e23a5d70cf9b25406abUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfile
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2026-07-28 08:28:10 +000096112decbde9346134c490110437d30c0ab23b43Update map-png.jenkinsfileedithdmap/map-png.jenkinsfile
- params/hainan-yangpu-submodule.jenkinsfilec489e23f45a9272dbaa1a144b95ad8cca77a8cad1785311425000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile
2026-07-29 07:50:25 +0000c489e23f45a9272dbaa1a144b95ad8cca77a8cadUpdate hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfile
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2026-07-29 08:03:19 +00006594c3a37546c3203326cc63039a06189f4a5f2cUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfile
- hdmap/hdmap-cloud.jenkinsfilea12471284f7ddbf33eca092ca77f5bf966c3fb8a1785312376000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hdmap-cloud.jenkinsfile
2026-07-29 08:06:16 +0000a12471284f7ddbf33eca092ca77f5bf966c3fb8aUpdate hdmap-cloud.jenkinsfileedithdmap/hdmap-cloud.jenkinsfile
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2026-07-29 09:27:42 +0000006438e21a292534ca7f84ab6ba971f9d3803ff6Update python-scripts.jenkinsfileeditpython-scripts.jenkinsfile
- system-libraries.jenkinsfile22c4f298fc9941f52ac846c75f078274eb6a2e6c1785317319000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate system-libraries.jenkinsfile
2026-07-29 09:28:39 +000022c4f298fc9941f52ac846c75f078274eb6a2e6cUpdate system-libraries.jenkinsfileeditsystem-libraries.jenkinsfile
- system-libraries.jenkinsfilea37f386d3617814652452eaafb1a93f7319a385f1785317359000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate system-libraries.jenkinsfile
2026-07-29 09:29:19 +0000a37f386d3617814652452eaafb1a93f7319a385fUpdate system-libraries.jenkinsfileeditsystem-libraries.jenkinsfile
- hardware/mizar.jenkinsfile320435f8962a7f51e6fb5a24a89755dc8183d0961785317412000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate mizar.jenkinsfile
2026-07-29 09:30:12 +0000320435f8962a7f51e6fb5a24a89755dc8183d096Update mizar.jenkinsfileedithardware/mizar.jenkinsfile
- hardware/polaris.jenkinsfile210e58176162aa99a931d2f3e1c0fc991f0057fa1785317504000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate polaris.jenkinsfile
2026-07-29 09:31:44 +0000210e58176162aa99a931d2f3e1c0fc991f0057faUpdate polaris.jenkinsfileedithardware/polaris.jenkinsfile
- hardware/tc397_ota.jenkinsfile8ec3bf768910b51d863bcbd12088aebba132afb11785317547000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate tc397_ota.jenkinsfile
2026-07-29 09:32:27 +00008ec3bf768910b51d863bcbd12088aebba132afb1Update tc397_ota.jenkinsfileedithardware/tc397_ota.jenkinsfile
git- data/obstacle/perception_obstacle.hppdata/obstacle/obstacle.hppdata/config/cfg_func_sw.hppdata/config/cfg_region.cppdata/config/cfg_func_sw.cppCMakeLists.txtdata/obstacle/obstacle.cppscenarios/stage.cppsink/ros_sink_chassis_ctrl.hppdata/config/cfg_region.hppplan/prepare/prepare_objs.cppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/other_decider/alarm_decider.hppdata/obstacle/obstacle_decider_attr.hppsink/ros_sink_chassis_ctrl.cpptasks/deciders/other_decider/alarm_decider.cppdd3ac6978e9051b56ed9ac071022ddb138f543b51782436556000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增障碍物置信度评分 行人靠近报警
2026-06-26 09:15:56 +0800dd3ac6978e9051b56ed9ac071022ddb138f543b5feat: 新增障碍物置信度评分 行人靠近报警editdata/obstacle/obstacle.hppeditCMakeLists.txteditdata/obstacle/obstacle_decider_attr.hppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_region.hppeditplan/prepare/prepare_objs.cppeditsink/ros_sink_chassis_ctrl.cppeditdata/config/cfg_func_sw.cppeditsink/ros_sink_chassis_ctrl.hppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/perception_obstacle.hppedittasks/deciders/other_decider/alarm_decider.hppeditdata/obstacle/obstacle.cppeditscenarios/stage.cppeditdata/config/cfg_region.cppedittasks/deciders/other_decider/alarm_decider.cpp
- data/config/cfg_func_sw.cppsink/ros_sink_chassis_ctrl.cppdata/config/cfg_func_sw.hppae82cd70389db148891fd4f0f8354dae82623fb41782444631000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 预警时间间隔参数化
2026-06-26 11:30:31 +0800ae82cd70389db148891fd4f0f8354dae82623fb4feat: 预警时间间隔参数化editsink/ros_sink_chassis_ctrl.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hpp
- data/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.cpp
- data/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.cpp
- data/config/cfg_region.cpp02eef33286fd2c1fd15c3630295167bbdca793081783330983000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 合并冲突
2026-07-06 17:43:03 +080002eef33286fd2c1fd15c3630295167bbdca79308feat: 合并冲突editdata/config/cfg_region.cpp
- data/obstacle/perception_obstacle.hppdata/obstacle/obstacle.hppdata/config/cfg_func_sw.hppdata/config/cfg_region.cppdata/config/cfg_func_sw.cppCMakeLists.txtdata/obstacle/obstacle.cppscenarios/stage.cppsink/ros_sink_chassis_ctrl.hppdata/config/cfg_region.hppdata/obstacle/obstacle_decider_attr.cppplan/prepare/prepare_objs.cpptasks/deciders/other_decider/alarm_decider.hppdata/obstacle/obstacle_decider_attr.hppsink/ros_sink_chassis_ctrl.cpptasks/deciders/other_decider/alarm_decider.cpp067a789e161bce5878bb983eebdd5bad63d667651783391073000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增障碍物置信度评分 行人靠近报警
2026-07-07 10:24:33 +0800067a789e161bce5878bb983eebdd5bad63d66765feat: 新增障碍物置信度评分 行人靠近报警editdata/config/cfg_func_sw.hppeditdata/config/cfg_region.hppeditdata/obstacle/obstacle.hppeditscenarios/stage.cppeditdata/obstacle/obstacle_decider_attr.hppeditdata/obstacle/obstacle.cppedittasks/deciders/other_decider/alarm_decider.hppeditsink/ros_sink_chassis_ctrl.cppeditCMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/obstacle/obstacle_decider_attr.cppeditsink/ros_sink_chassis_ctrl.hppedittasks/deciders/other_decider/alarm_decider.cppeditdata/obstacle/perception_obstacle.hppeditdata/config/cfg_region.cppeditplan/prepare/prepare_objs.cpp
- data/config/cfg_func_sw.cppsink/ros_sink_chassis_ctrl.cppdata/config/cfg_func_sw.hppaefad2d72b50d177f73b39b6f3f88b95699e6be71783391073000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 预警时间间隔参数化
2026-07-07 10:24:33 +0800aefad2d72b50d177f73b39b6f3f88b95699e6be7feat: 预警时间间隔参数化editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppeditsink/ros_sink_chassis_ctrl.cpp
- data/config/cfg_region.cppf694b82452efc96843fefb947d35b12040e750071783391077000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 合并冲突
2026-07-07 10:24:37 +0800f694b82452efc96843fefb947d35b12040e75007feat: 合并冲突editdata/config/cfg_region.cpp
- tasks/deciders/long_decider/constrain_decider.cppdata/app/cmd/cmd_dead_lock_force_park.cppdata/app/cmd/cmd_dead_lock.cppf17dd3022e07cf16f5602cd595b4e53c639163b31784097871000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: DeadLock新的停止点在1m以内车辆不启动
2026-07-15 14:44:31 +0800f17dd3022e07cf16f5602cd595b4e53c639163b3feat: DeadLock新的停止点在1m以内车辆不启动editdata/app/cmd/cmd_dead_lock_force_park.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/app/cmd/cmd_dead_lock.cpp
- tasks/deciders/long_decider/constrain_decider.cppf1f7bca7f335e3bb4f3e97eb16477ece7ac415091784104883000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: DeadLock 使用历史纵向约束判断近距离停车锁存状态
2026-07-15 16:41:23 +0800f1f7bca7f335e3bb4f3e97eb16477ece7ac41509fix: DeadLock 使用历史纵向约束判断近距离停车锁存状态edittasks/deciders/long_decider/constrain_decider.cpp
- data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp824daf8445e92722d6ce546b2e8a03a11c8763761784120704000http://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
2026-07-15 21:05:04 +0800824daf8445e92722d6ce546b2e8a03a11c876376fix: 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.cpp
- plan/prepare/prepare_ogm.cppplan/prepare/prepare_ogm.hpp4f361ae47bc58a4dca72f5bed937aac4e62e59741784178402000http://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 13:06:42 +08004f361ae47bc58a4dca72f5bed937aac4e62e5974perf: 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.hpp
- data/vehicle/lock_station_data.cpp41119aa52d08f3d36a58e0f0bd5bd9e77c269c671784186100000http://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 15:15:00 +080041119aa52d08f3d36a58e0f0bd5bd9e77c269c67fix: 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.cpp
- data/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.cpp
- plan/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.hpp
- data/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.cpp
- tasks/plan/keb_utils.cpp95737210ab3b8548ebf8930d3c4267544256fd361784194096000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 忽略ssep_ec中缓存的real obstacles
2026-07-16 17:28:16 +080095737210ab3b8548ebf8930d3c4267544256fd36chore: Keb: 忽略ssep_ec中缓存的real obstaclesedittasks/plan/keb_utils.cpp
- data/map/envelop/map_envelops.cppc3d8a6c116c0a9e8f4ff69bf5904033acab647a11784197676000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复union region异步计算, latch结果消费即释放治理内存驻留
- CreateUnionRegion恢复std::async异步, polygons改move捕获少一份拷贝
- latch结果消费一次即move取走并shrink_to_fit释放, 不再常驻AsyncUnionRegionState
- 重建路径不再预清union_region_/重建async_state, 异步未就绪时沿用上一帧轮廓
2026-07-16 18:27:56 +0800c3d8a6c116c0a9e8f4ff69bf5904033acab647a1fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留editdata/map/envelop/map_envelops.cpp
- replayer/logic.cppd749b4221ec4750bc1d19a2308f5c31730545b711784200418000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效
2026-07-16 19:13:38 +0800d749b4221ec4750bc1d19a2308f5c31730545b71perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效editreplayer/logic.cpp
- plan/prepare/prepare_status.hppdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppplan/prepare/prepare_status.cpp46f793d6f300e33aa0d19b0a6c518d26f886bfd11784260934000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 远程单次直线步进END后不退出循环重回MOVE
UpdateFSMState 每周期被调两次(pilot_update 一次, 失败 stage 经
ResetSuccessorTasks 仍强制执行的 MOTION_FSM_TASK 一次), fsm_interface
的 last_motion_sub_state_type 被第二次快照拍平, REMOTE_MOVE->REMOTE_END
边沿被吞, is_need_increase_remote_idx_ 永不置位, cur_remote_idx_ 不推进,
finishReqRemoteCtrl 不触发, REMOTE_END 停 remote_align_stop_sec 后经
RemoteInit 无条件重回 REMOTE_MOVE 直至超时.
prepare 改为自持上周期 remote 子状态判 END 进入沿, 不再依赖
fsm_interface 的 last_*; REMOTE_STOP 跳过判断同步替换恢复原语义.
2026-07-17 12:02:14 +080046f793d6f300e33aa0d19b0a6c518d26f886bfd1fix: 远程单次直线步进END后不退出循环重回MOVEeditdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hpp
- tasks/deciders/lat_decider/trailer_side_pass_decider.cppdata/config/cfg_lat_plan.hppreplayer/replayer_data_process/replayer_data_process.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_plan.cpptasks/deciders/lat_decider/trailer_path_bounds_decider.cpptasks/deciders/lat_decider/path_bounds_decider.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/boundary/driving_corridor.hpp74b035a35b095b2e5650e2eb298b03fd8d46b1431784261160000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 走廊边界按gap端点来源差异化内缩(corridor_buffer_*), 钳制保DP路径可行
- GenerateBoundary: 选中gap端点按来源查buffer内缩(道路/沟点小, 点云/实体/预测框大),
钳制到容得下DP路径(车中心±半宽+0.3 slack, 覆盖WBCA Dilated每侧0.2m侵蚀), 只缩不反转;
贴障/起步时要求的预留自适应压到实际余量, 不做近自车渐变(避免越接近障碍预留越衰减);
DP无路径降级帧不内缩, 保持原始边界
- 新增raw_path_bound(未内缩原始端点): path_bounds/trailer_path_bounds_decider的
区域相等性判定(bound==shift宽)改读raw, 防内缩翻转is_in_obstacle_region分支
- cfg_lat_plan新增6个corridor_buffer_*参数(rosparam, 序列化v5), 类内初始化0兜底
老dump反序列化(v<5跳过字段落0=不内缩=复现老行为)
- BuildGaps拆出BuildGapAt(单gap构建), 免每断面整表分类; 挂车半宽提TrailerAwareHalfWidths
与GetSpeedLimitsAndDistances共用
2026-07-17 12:06:00 +080074b035a35b095b2e5650e2eb298b03fd8d46b143feat: 走廊边界按gap端点来源差异化内缩(corridor_buffer_*), 钳制保DP路径可行editreplayer/replayer_data_process/replayer_data_process.cppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_plan.cppedittasks/deciders/lat_decider/trailer_path_bounds_decider.cppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppedittasks/deciders/lat_decider/side_pass_decider.cppeditdata/boundary/driving_corridor.hppeditdata/config/cfg_lat_plan.hppedittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/app/fsm/task_fsm/task_fsm.cppdata/app/fsm/task_command_type.cpp8f7e94a46edce22ff96ee1be076fdc8031d6b1531784264979000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: park子状态机收普通任务卡死PARK_MOVE无法退出
bulk分支(FSM_TYPE_B)在PARK_LOCK收到无散货途径点的普通任务时,
Lock2Init/Init2Move仅凭routing标志放行进入PARK_MOVE, 而该态下
Move2Adjust(需bulk_in点)与Park_Bulk2Travel(需bulk_out点)恒假,
只能靠再次取消任务解锁(实车卡死近4小时):
- Lock2Init/Init2Move补散货途径点检查, 普通任务不再进入死区
- Park_Bulk2Travel新增逃生: 新任务无任何散货途径点且地图可用时退回TRAVEL
同修停车场分支(FSM_TYPE_A)同类隐患: Park_Park2Travel对PARK_MOVE
放行新routing逃生, 但带双卡死判据(switch恒KEEP+停留超20s),
正常进位途中刷新停车任务不受影响
另补EnumType2String缺失的E_TASK_FSM/E_MOTION_FSM映射,
日志不再把正常事件误打成E_NO_STATE
2026-07-17 13:09:39 +08008f7e94a46edce22ff96ee1be076fdc8031d6b153fix: park子状态机收普通任务卡死PARK_MOVE无法退出editdata/app/fsm/task_fsm/task_fsm.cppeditdata/app/fsm/task_command_type.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
- data/map/envelop/map_envelops.cppcf9bf06e62975a44420683b8d68b1a1c38d24ebb1784270763000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复union region异步计算, latch结果消费即释放治理内存驻留
- CreateUnionRegion恢复std::async异步, polygons改move捕获少一份拷贝
- latch结果消费一次即move取走并shrink_to_fit释放, 不再常驻AsyncUnionRegionState
- 重建路径不再预清union_region_/重建async_state, 异步未就绪时沿用上一帧轮廓
2026-07-17 14:46:03 +0800cf9bf06e62975a44420683b8d68b1a1c38d24ebbfix: 恢复union region异步计算, latch结果消费即释放治理内存驻留editdata/map/envelop/map_envelops.cpp
- replayer/logic.cpp49da4fba25e8910c876f430f1f1b28a8e67e0f631784270774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效
2026-07-17 14:46:14 +080049da4fba25e8910c876f430f1f1b28a8e67e0f63perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效editreplayer/logic.cpp
- plan/prepare/prepare_status.hppdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppplan/prepare/prepare_status.cpp72009854a7c4ddb6758552e58d1be9e0ca3e37d21784270779000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 远程单次直线步进END后不退出循环重回MOVE
UpdateFSMState 每周期被调两次(pilot_update 一次, 失败 stage 经
ResetSuccessorTasks 仍强制执行的 MOTION_FSM_TASK 一次), fsm_interface
的 last_motion_sub_state_type 被第二次快照拍平, REMOTE_MOVE->REMOTE_END
边沿被吞, is_need_increase_remote_idx_ 永不置位, cur_remote_idx_ 不推进,
finishReqRemoteCtrl 不触发, REMOTE_END 停 remote_align_stop_sec 后经
RemoteInit 无条件重回 REMOTE_MOVE 直至超时.
prepare 改为自持上周期 remote 子状态判 END 进入沿, 不再依赖
fsm_interface 的 last_*; REMOTE_STOP 跳过判断同步替换恢复原语义.
2026-07-17 14:46:19 +080072009854a7c4ddb6758552e58d1be9e0ca3e37d2fix: 远程单次直线步进END后不退出循环重回MOVEeditdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hpp
- data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/app/fsm/task_command_type.cppdata/app/fsm/task_fsm/task_fsm.cppa5afde418b758301551f63748ff5a58175d144cb1784270859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: park子状态机收普通任务卡死PARK_MOVE无法退出
bulk分支(FSM_TYPE_B)在PARK_LOCK收到无散货途径点的普通任务时,
Lock2Init/Init2Move仅凭routing标志放行进入PARK_MOVE, 而该态下
Move2Adjust(需bulk_in点)与Park_Bulk2Travel(需bulk_out点)恒假,
只能靠再次取消任务解锁(实车卡死近4小时):
- Lock2Init/Init2Move补散货途径点检查, 普通任务不再进入死区
- Park_Bulk2Travel新增逃生: 新任务无任何散货途径点且地图可用时退回TRAVEL
同修停车场分支(FSM_TYPE_A)同类隐患: Park_Park2Travel对PARK_MOVE
放行新routing逃生, 但带双卡死判据(switch恒KEEP+停留超20s),
正常进位途中刷新停车任务不受影响
另补EnumType2String缺失的E_TASK_FSM/E_MOTION_FSM映射,
日志不再把正常事件误打成E_NO_STATE
2026-07-17 14:47:39 +0800a5afde418b758301551f63748ff5a58175d144cbfix: park子状态机收普通任务卡死PARK_MOVE无法退出editdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditdata/app/fsm/task_command_type.cppeditdata/app/fsm/task_fsm/task_fsm.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.hssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.ccssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.hssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.hssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc24fd81a9d13c83e6652e19c559f8f82118f728871784274551000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 移除ilqr集卡轨迹库功能
2026-07-17 15:49:11 +080024fd81a9d13c83e6652e19c559f8f82118f72887refactor: SSEP: 移除ilqr集卡轨迹库功能editssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.ccdeletessep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccdeletessep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdeletessep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccdeletessep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccdeletessep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.ccdeletessep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
- data/map/pnc_map/pnc_map_path.cppdata/common/path.cppf7ecf7b1dee5d6720bc871d7301910b4d6fd3b391784442326000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级
- Path::GetIndexFromS/GetSmoothPoint 空路径不再fatal, 返回默认值并记ERROR日志
- PncMapPath lane segment构造函数点数不足2时清空path_points_留无效path,
下游经IsAvailable安全降级, 不再CHECK崩进程
2026-07-19 14:25:26 +0800f7ecf7b1dee5d6720bc871d7301910b4d6fd3b39fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级editdata/map/pnc_map/pnc_map_path.cppeditdata/common/path.cpp
- data/common/path.hppdata/common/path_point.cppdata/common/path.cppf8233babbba259246c3ed95227f6b9e2a070d6001784449421000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Path/DiscretizedPath 空与单点场景既有隐患修复
- Path::Reset 补清 length_/num_sample_points_, 防复位后陈旧值残留
- path.hpp 给 num_sample_points_/length_ 加类内默认值, 防默认构造读未初始化垃圾
- Path::InitPoints 单点路径不再越界访问 path_pts_[-1]
- DiscretizedPath::GetPathPtFromS/GetPathPtIdxFromS 空容器 front() UB 改空判降级,
Evaluate/EvaluateReverse 的 CHECK(!empty()) fatal 同步改 LOG(ERROR)+默认点
2026-07-19 16:23:41 +0800f8233babbba259246c3ed95227f6b9e2a070d600fix: Path/DiscretizedPath 空与单点场景既有隐患修复editdata/common/path.hppeditdata/common/path_point.cppeditdata/common/path.cpp
- plan/prepare/prepare_status.cpp6087fa2830942d05011e37f9971570f912f11c231784461943000http://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
2026-07-19 19:52:23 +08006087fa2830942d05011e37f9971570f912f11c23fix: 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/map/pnc_map/pnc_map_path.cppdata/common/path.cpp42056f95c73509f3f58d61530894685e20a604d41784499007000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级
- Path::GetIndexFromS/GetSmoothPoint 空路径不再fatal, 返回默认值并记ERROR日志
- PncMapPath lane segment构造函数点数不足2时清空path_points_留无效path,
下游经IsAvailable安全降级, 不再CHECK崩进程
2026-07-20 06:10:07 +080042056f95c73509f3f58d61530894685e20a604d4fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级editdata/common/path.cppeditdata/map/pnc_map/pnc_map_path.cpp
- data/common/path.hppdata/common/path.cppdata/common/path_point.cpp511e2bf053a7c68b76ae177ef28fd9cf9e4ae0561784499014000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Path/DiscretizedPath 空与单点场景既有隐患修复
- Path::Reset 补清 length_/num_sample_points_, 防复位后陈旧值残留
- path.hpp 给 num_sample_points_/length_ 加类内默认值, 防默认构造读未初始化垃圾
- Path::InitPoints 单点路径不再越界访问 path_pts_[-1]
- DiscretizedPath::GetPathPtFromS/GetPathPtIdxFromS 空容器 front() UB 改空判降级,
Evaluate/EvaluateReverse 的 CHECK(!empty()) fatal 同步改 LOG(ERROR)+默认点
2026-07-20 06:10:14 +0800511e2bf053a7c68b76ae177ef28fd9cf9e4ae056fix: Path/DiscretizedPath 空与单点场景既有隐患修复editdata/common/path.cppeditdata/common/path_point.cppeditdata/common/path.hpp
- data/common/trajectory_point.cpp6762d53f760e626f1471f94fdd2ee82ef093e5051784514428000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为
lower_bound 落在 end() 时原代码用 *end() 参与外插, 读垃圾内存, 结果不可信
且可崩溃; 与 MatchPtByt 的同款历史修复对齐, 夹到末点返回, 并补 size<2 的
begin 分支越界保护。动态边界收窄的 arrive_t 反查每帧命中该分支, 既有
cloud_trajectory/trajectory_combiner 调用点同受益。
2026-07-20 10:27:08 +08006762d53f760e626f1471f94fdd2ee82ef093e505fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为editdata/common/trajectory_point.cpp
- tasks/plan/keb_utils.cppdata/obstacle/decision/obstacle_decision.hpptasks/deciders/other_decider/obstacle_decider.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/obstacle_decider_attr.cppdata/obstacle/obstacle.hppdata/obstacle/obstacle_decider_attr.hppdata/dp_poly_path/trajectory_cost.cppb9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd51784514450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源
新增 data/obstacle/decision/: ObstacleDecider 循环体收敛为 obstacle_decision::
Update(决策态继承→运动状态估计→Base/Label 决策→label 消抖)。
- 运动状态估计治动静误判误绕行: 感知 is_static 是 1km/h 单帧阈值, 测速置零
即翻转, 走静态标签分支引发误绕行。改用 his_states 15帧均值速度 + 3s 窗
净位移证据(≥0.8m, 滤 bbox 遮挡抖动) + 非对称迟滞(判动3帧/判静10帧);
UNDETERMINED 回落感知 is_static, 真静障首帧即走静态通道。
- direction 修复: 投影失败返 0 误判 REVERSE(同向车被当对向画反向延伸/污染
长决策)。改 +0.3/-0.15 非对称死区, 死区内保持上帧值。
- label 消抖: 收紧立即生效, 放松需连续 5 帧确认。
- 决策态继承走 Update 内 InheritDecisionState 而非 Obstacles::FromHis:
后者全 stage 无条件跑, 会在不调度 OBSTACLE_DECIDER 的 stage 残留旧值。
- 准入谓词统一: IsDpDynamicCandidate/IsCorridorGridObstacle 单一事实源,
DP 动态盒与 KEB 走廊消费端只调用不自判。
- ObstacleHisStates 加 velocity_filter_available(): MeanFilter 空缓存取均值
LOG_ASSERT 直接崩, 且该滤波器不参与序列化(回放载入恒空), 消费前必查。
- debug_str 增加运动状态标记(U_/S_/M_)。attr 序列化升 v3。
2026-07-20 10:27:30 +0800b9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd5feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源edittasks/plan/keb_utils.cppeditdata/dp_poly_path/trajectory_cost.cppedittasks/deciders/other_decider/obstacle_decider.cppadddata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/obstacle.hppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/obstacle_decider_attr.hppadddata/obstacle/decision/obstacle_decision.cpp
- data/config/cfg_lat_plan.hpptasks/deciders/lat_decider/trailer_side_pass_decider.cppreplayer/replayer_data_process/replayer_data_process.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_plan.cpptasks/deciders/lat_decider/side_pass_decider.cppdata/boundary/driving_corridor.hpp4c6347125137a837135fd420306b5564fb539b501784514474000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)
DP 有时间参数化的动态碰撞 cost 但 path_bound 只由静态化 OGM 切出, 动态避让
仅经 ref_l 软引导进 WBCA, 平滑权重把绕行量拉回。GenerateBoundary 在静态内缩
后追加动态收窄:
- 同向车时间对齐投影: 自车到达时刻按上帧轨迹反查(与 DP 同口径), 回放/首帧
退化匀速映射(下限步速 1.5m/s, 防起步覆盖塌缩); 预测横向漂移限幅采信在
当前实测 l ± min(0.5·t, 1m), 防邻道预测线漂移把直道路径挤偏。
- 对向车会车旁路(dyn_clamp_meeting_bypass): 常被弯道/航向门打成 IGNORE 但
会车交互仍在, REVERSE+FRONT/SIDE+确认运动独立于 label 进收窄(不进 DP 盒
不改绕行决策); 弃时间对齐用 6s 扫掠包络(低速会车两车到达时刻天然错开),
豁免横向限幅(弯道对向车 Frenet 横移是真实几何), 收窄深度封顶半富余。
- 安全阀: 只收窄不翻转绕行侧, 下限=DP路径±半宽+slack, 车前 5m 起步豁免,
K=3/M=5 帧锁存消抖(锁存迁移不受单帧降级门控, 防会车中途边界抖动)。
- 障碍 SL 半宽取 fabs: GetSLBoundary start/end 顺序未归一化, 裸减得负宽会
把占用区间整段丢弃(根治待源头归一, 见审计记录)。
- 观测: 障碍 debug_str 追加 _D<C|B><H><A>:<n> 漏斗标记(幂等, 防回放重算
累积); trailer 走廊共用对象但不参与收窄不触碰锁存。
- 灰度默认关(rosparam use_dynamic_bound_clamp, 验证需显式开)。
2026-07-20 10:27:54 +08004c6347125137a837135fd420306b5564fb539b50feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)edittasks/deciders/lat_decider/side_pass_decider.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppeditdata/config/cfg_lat_plan.hppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/config/cfg_lat_plan.cppeditreplayer/replayer_data_process/replayer_data_process.cpp
- data/dp_poly_path/decision_trace.cppdata/dp_poly_path/decision_trace.hpp613bb76c1c04a61369d8cf718abbdd3ac5273f351784514485000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细
dyn_dbg 漏斗行(enabled→cand/bypass→arrive→hit→active→clamped, 哪层归零卡
哪层) + dyn_notes 逐障碍投影统计(预测 s/l 范围/swept/inter/被拒原因) +
断面级 dyn_* 收窄快照; dump 移到 GenerateBoundary 之后以带出收窄结果。
排查'为什么没收窄'先看这两处。
2026-07-20 10:28:05 +0800613bb76c1c04a61369d8cf718abbdd3ac5273f35feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细editdata/dp_poly_path/decision_trace.cppeditdata/dp_poly_path/decision_trace.hpp
- 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.hd06067513a0b5bde9107fa12fb1bfdd64afad47f1784514533000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@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 10:28:53 +0800d06067513a0b5bde9107fa12fb1bfdd64afad47ffeat: 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.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/keb_optimizer/keb_problem.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
- data/obstacle/obstacle.cppdata/obstacle/obstacle_decider_attr.cppdata/obstacle/obstacle.hppdata/obstacle/perception_obstacle.hpp8188b089eb1d8bd51678d2586c3c21c9251f160d1784528782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 速度置信度的引入收敛到只影响行人靠近预警功能
2026-07-20 14:26:22 +08008188b089eb1d8bd51678d2586c3c21c9251f160dfix: 速度置信度的引入收敛到只影响行人靠近预警功能editdata/obstacle/obstacle.hppeditdata/obstacle/obstacle.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/perception_obstacle.hpp
- data/app/fsm/task_fsm/task_fsm.cpp5e94cf0938c76aee4944c9521d1073f2e917a1401784531577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入
2026-07-20 15:12:57 +08005e94cf0938c76aee4944c9521d1073f2e917a140fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入editdata/app/fsm/task_fsm/task_fsm.cpp
- data/config/cfg_region.hppdata/obstacle/obstacle_decider_attr.cppdata/obstacle/obstacle.hppdata/config/cfg_func_sw.hpptasks/deciders/other_decider/alarm_decider.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppCMakeLists.txtsink/ros_sink_chassis_ctrl.cpptasks/deciders/other_decider/alarm_decider.cppf8e0b4f0d509e20cc24569fcda6a4e14fb765d121784542435000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 格式漂移更改 配置参数更改
2026-07-20 18:13:55 +0800f8e0b4f0d509e20cc24569fcda6a4e14fb765d12fix: 格式漂移更改 配置参数更改editCMakeLists.txteditdata/config/cfg_func_sw.hppeditdata/config/cfg_region.hppeditdata/obstacle/obstacle_decider_attr.cppeditdata/config/cfg_func_sw.cppedittasks/deciders/other_decider/alarm_decider.cppedittasks/deciders/other_decider/alarm_decider.hppeditdata/obstacle/obstacle_decider_attr.hppeditsink/ros_sink_chassis_ctrl.cppeditdata/obstacle/obstacle.hpp
- data/boundary/driving_corridor.cpphmi/draw/draw_perception.cppdata/dp_poly_path/decision_trace.hppdata/obstacle/perception_obstacle.hpptasks/deciders/long_decider/constrain_decider.hppdata/constrain/longitude_constrain.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/dp_poly_path/trajectory_cost.cppdata/obstacle/perception_obstacle.cppdata/boundary/driving_corridor.hppdata/config/cfg_safe_const.hppdata/config/cfg_lat_plan.hppdata/common/sl_boundary.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/config/cfg_safe_const.cppdata/map/reference/reference_segment.cppdata/dp_poly_path/decision_trace.cppdata/obstacle/obstacle_decider_attr.cppdata/constrain/longitude_constrain.hppdata/obstacle/obstacle_decider_attr.hpp5d4c8178edc1a0a13f8a08bd4e556f43e4ac96cf1784590790000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绕行决策加固一轮(误绕行治理+类型策略+动作承诺+限速补全)
- DP 动态碰撞时域修复: num=5.0/0.5 却按 0.1 步进致实际只看 1s, 收成
编译期单源 kDynEvalDtS/kDynHorizonS(5s), 让 DP 及早为对向车主动让行
- 动态障碍边界时间对齐收窄 + 会车 MEETING label 化 + 投影策略集中
(对向扫掠包络/收窄深度封顶 dyn_clamp_meeting_depth_cap 可调) + trace 观测
- 狭窄会车识别: 收窄后可用宽度不足→降速+缩跟车距离(narrow_meeting)
- 误绕行治理:
* 跟踪成熟度门(reserved_int_1 未初始化 + age), 修 age>0 放过新 track 的洞
* 动态障碍足迹掩膜: 动车漏聚类只剩 OGM 点云时不切 gap(仅横向, 纵向照常)
* 类型策略 SidePassPolicy: 车辆类居中跟车等/VRU 居中停让/靠边绕/场桥不碰,
VRU 靠边无条件绕(解耦动静), 车辆类居中抛锚超时逃生口
* 动作承诺: 一旦绕行锁到动作完成(甩到车后/VRU挡前硬退出/超时), 承诺期
旁路各软门, 防超车并排时半途回摆; 进入侧连续 N 帧确认防单帧误判固化
- 走廊限速失真治理(零新栅格): 静态非绕行障碍横向余量按 frenet 补进限速;
同向并行/超车贴身降速(空间足够不降速), 复用 PARALLEL_OBSTACLE_SPEED_LIMIT
- SL 约定全仓统一(start_l=左缘/end_l=右缘)+语义访问器
- 所有功能使能开关集中到 CfgFuncSw, 数值调参留各域 config;
序列化迁移用占位模式保旧 dump 对齐(CfgFuncSw/CfgLatPlan/CfgSafeConst/
ObstacleDeciderAttr/PerceptionObstacle 各升版本)
2026-07-21 07:39:50 +08005d4c8178edc1a0a13f8a08bd4e556f43e4ac96cffeat: 绕行决策加固一轮(误绕行治理+类型策略+动作承诺+限速补全)editdata/config/cfg_lat_plan.cppeditdata/config/cfg_safe_const.hppeditdata/obstacle/perception_obstacle.hppedittasks/deciders/long_decider/constrain_decider.hppeditdata/dp_poly_path/decision_trace.cppeditdata/boundary/driving_corridor.hppeditdata/config/cfg_func_sw.hppeditdata/constrain/longitude_constrain.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/config/cfg_lat_plan.hppeditdata/constrain/longitude_constrain.cppeditdata/dp_poly_path/trajectory_cost.cppeditdata/boundary/driving_corridor.cppeditdata/map/reference/reference_segment.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_func_sw.cppeditdata/obstacle/perception_obstacle.cppeditdata/config/cfg_safe_const.cppedithmi/draw/draw_perception.cppeditdata/common/sl_boundary.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/obstacle_decider_attr.hppeditdata/dp_poly_path/decision_trace.hpp
- data/plan/start_point_data.cpp72d3639900cb42c6d339f7bf69736eb8099f709b1784600390000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line
2026-07-21 10:19:50 +080072d3639900cb42c6d339f7bf69736eb8099f709bfix: revering in straight lineeditdata/plan/start_point_data.cpp
- plan/prepare/prepare_status.cppabc6a188c290e2ade83d974d1c3bdedd7b295b701784603025000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state
2026-07-21 11:03:45 +0800abc6a188c290e2ade83d974d1c3bdedd7b295b70fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cpp
- data/dp_poly_path/dp_road_graph.cpp57432d24b14d214084e3c0719893a693d3db77961784642244000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 绕行DP转移预剪放宽, 治偏置起点+畸短首段致l=0直行走廊不可达误绕行
dl剪枝带用弦斜率avg_dl=Δl/seg_len当机动激进度代理, 在短基线上被天然放大;
init锚车辆真实s防采样抖导致首段常畸短, 偏置起点回正弦斜率超带→l=0在DP图上
不可达(留默认inf非碰撞)→被迫朝障碍侧大拱误绕行。改: 短段按基线比例放宽带宽
(cap 5x), 回正方向(|cur_l|<|prev_l|)一律放行打破方向锁; 激进度仍由IsValidCurve兜底。
不动s锚定/采样。
2026-07-21 21:57:24 +080057432d24b14d214084e3c0719893a693d3db7796fix: 绕行DP转移预剪放宽, 治偏置起点+畸短首段致l=0直行走廊不可达误绕行editdata/dp_poly_path/dp_road_graph.cpp
- data/obstacle/decision/obstacle_decision.cpp7f9cc76953b6e990b2a03616093dd9a9369432f71784642401000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)
- 进入承诺除 label 意图外, 增加自车已实际横向偏移(|ego_match l|>0.5,
与 DP KeepSidePassUntilCentered 同源、对齐 kKeepLThr)作为必要条件,
防 l≈0 纯意图被单帧抖动瞬时锁成 30s 承诺
- 退出新增"空承诺撤销": 已承诺但未实际横向执行且已不满足准入即释放,
零回摆风险; 已绕到一半(lateral_engaged)的仍走硬承诺完成
- ego_match 不可用时证据无效, 进入保守拒绝、已建承诺不误撤
2026-07-21 22:00:01 +08007f9cc76953b6e990b2a03616093dd9a9369432f7feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)editdata/obstacle/decision/obstacle_decision.cpp
- data/config/cfg_func_sw.cpp245dc82d4e357b7d33cabc7b091bdb2b7c2aeead1784642447000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true)
2026-07-21 22:00:47 +0800245dc82d4e357b7d33cabc7b091bdb2b7c2aeeadfeat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true)editdata/config/cfg_func_sw.cpp
- data/obstacle/obstacle_decider_attr.cppe448e4ce08f401dd7e70250707072e155614d0921784690400000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等
会车 MEETING 原只挂在弯道/航向差大两门上, 直道正面对开车掉头后与参考线
反平行(r_diff≈0)且在直线, 两门都不触发, 掉进余宽判定两侧不足即 BLOCK
停等。在 LabelDecider !treat_as_static 块【先于】两门加会车短路:
IsMeetingScenario(确认运动+逆向+车前/侧)一律走 MEETING——本体不 BLOCK/
不写实体栅格, 只按预测轨迹收窄边界让行; 空间真不够时收窄切不出 gap,
纵向 ST/guardian 照常停, 安全不丢。灰度仍 dyn_clamp_meeting_bypass。
2026-07-22 11:20:00 +0800e448e4ce08f401dd7e70250707072e155614d092feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等editdata/obstacle/obstacle_decider_attr.cpp
- data/config/cfg_lat_plan.cpp40537f7ac3d275051064cfa1361a4a989672e8a61784690400000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)
2026-07-22 11:20:00 +080040537f7ac3d275051064cfa1361a4a989672e8a6chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)editdata/config/cfg_lat_plan.cpp
- data/constrain/longitude_constrain.hppdata/constrain/longitude_constrain.cppac4a015c1d0fa9fff7faee5f20a363bfd4d0706b1784691662000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃
NARROW_MEETING_SPEED_LIMIT 实装时只登记了 IsSpeedLimitType, 漏了
LongitudeSpeedLimitConstrain::Initialize 的类型断言白名单。窄会车识别一旦
触发 CreateNarrowMeetingConstrain 就 LOG_ASSERT 崩溃(Signal 6)。补三处:
断言白名单 / TraceBack switch 分组(同 PARALLEL 走减速曲线) / ToString case
(原走 default 显示 UNKNOWN)。走软限速, 未加 IsHardConstrainType。
2026-07-22 11:41:02 +0800ac4a015c1d0fa9fff7faee5f20a363bfd4d0706bfix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃editdata/constrain/longitude_constrain.cppeditdata/constrain/longitude_constrain.hpp
- data/app/fsm/task_fsm/task_fsm.cpp9152b3d115c2ef7450db98344b5e702217cd003a1784706621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入
2026-07-22 15:50:21 +08009152b3d115c2ef7450db98344b5e702217cd003afix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入editdata/app/fsm/task_fsm/task_fsm.cpp
- ssep/coarse_search/evaluator/evaluator.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/batched_priority_queue.hssep/coarse_search/indexed_priority_queue.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/gpu/device_types.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/coarse_search/evaluator/heuristic_feature_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/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/scenarios/tractor_trailer_single_segment_parking_planner.hssep/gpu/collision/collision_checker.cuh39bf5226ef6719b607a7d0542bf55d778e7d359d1784714614000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍
2026-07-22 18:03:34 +080039bf5226ef6719b607a7d0542bf55d778e7d359dfeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍editssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/gpu_context.cceditssep/gpu/device_types.haddssep/gpu/heuristic/reeds_shepp_kernel.cuheditssep/scenarios/tractor_trailer_single_segment_parking_planner.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/gpu/collision/collision_checker.cuheditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/batched_priority_queue.heditssep/coarse_search/evaluator/heuristic_feature_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/gpu_context.heditssep/coarse_search/indexed_priority_queue.haddssep/gpu/heuristic/heuristic_batch_bridge.haddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.haddssep/gpu/heuristic/dubins_kernel.cuhaddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- ssep/scenarios/tractor_trailer_lane_change_planner.haaf191484e4e3f33b0ca49fe3b1749ebf8d2e9b21784774497000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复变道轨迹末端可能画龙的问题
2026-07-23 10:41:37 +0800aaf191484e4e3f33b0ca49fe3b1749ebf8d2e9b2fix: SSEP: 修复变道轨迹末端可能画龙的问题editssep/scenarios/tractor_trailer_lane_change_planner.h
- data/obstacle/decision/obstacle_decision.hppdata/map/pnc_map/pnc_map_path.cppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/obstacle/obstacle_decider_attr.cppdata/config/cfg_func_sw.hppdata/obstacle/obstacle_decider_attr.hppdata/config/cfg_func_sw.cppdata/map/pnc_map/pnc_map_path.hpp58317cd215b7ab93b84dab9a684c06666a8dacec1784792061000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 会车逆向道窄时不借道让行(纯逻辑判场景+走廊左界渐变钳)
窄路正面会车时, 本车道被 OGM 点堵住需绕行, 原会向左借进逆向道, 与对向
来车正面冲突。改为在决策层纯逻辑判场景, 执行侧钳走廊左界, 不动 DP 搜索。
参考线预计算逆向车道几何(PncMapPath::InitWidth):
- 新增 ReverseLaneGeo{valid,num,near_bound_l,far_bound_l,gap}, 逐采样点
存左/右逆向道近远边界与缝宽(可为负), 复用原有 GetToRoadBoundaryDistance
/GetProjection 结果不重复查图; 不序列化。
- 访问器 GetReverseLaneGeo(s, is_left, out)。
场景判定(obstacle_decision::IsMeetingBorrowYieldScenario, 帧级):
对向逆向车快速逼近(速度取 his_states 15 帧均值, 不用裸 speed_km_h——感知
单帧测速置零会误撤让行门, 是危险方向的失效) + 逆向道过窄 → 宁让不借。
执行(DrivingCorridor::Init) 三层门控:
1. 场景成立;
2. 已承诺左借(ego 中心越过车道左边线)则不钳——中途拉回比走完更危险,
让它尽快清空逆向道; 让行只拦尚未起步的借行;
3. 本车道确实被堵才钳——用 his 走廊 drivable_seg 判(原始 OGM 堵塞, 与本帧
钳制无关, 不震荡); 本车道畅通则完全不动边界。
命中后左界按 ego 左边缘锚点沿 12m 线性渐变钳到 lane_left_l, 避免硬钳导致
方向盘猛打; 车道被堵死→无 gap→复用纵向停, 不硬挤右侧。
停住的对向车写入栅格(IsCorridorGridObstacle):
对方停下后让行解除放行绕道, 若它不在图里就是"图上空、实际有车"。故确认
静止+逆向+heading 对齐者写图, 能否通过交真实几何判定。heading 对齐判定
(30°+3 帧防抖)从 meeting_fallback 分支提到动静分支之外, 否则静态车只能
读到上帧陈旧值。
其他:
- 逆向车绕行策略直接 ALLOW: pulled_over 相对自车参考线判, 会把侵入自车道
的逆向车误判为"居中"→跟一辆迎面来的车。
- 走廊左钳与堵塞判据统一用 TrailerAwareHalfWidths(挂车感知/左右非对称),
该函数上移至 Init 之前, 保持各处 footprint 口径一致。
- GetBoundaryFromS 内是 CHECK(!empty()), 新增调用在断面循环之前, 加空守卫。
- 灰度 use_meeting_borrow_yield_(cfg_func_sw v14), 观测日志 LOG_EVERY_N 降频。
2026-07-23 15:34:21 +080058317cd215b7ab93b84dab9a684c06666a8dacecfeat: 会车逆向道窄时不借道让行(纯逻辑判场景+走廊左界渐变钳)editdata/obstacle/obstacle_decider_attr.hppeditdata/map/pnc_map/pnc_map_path.hppeditdata/config/cfg_func_sw.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/decision/obstacle_decision.hppeditdata/map/pnc_map/pnc_map_path.cppeditdata/config/cfg_func_sw.hpp
- data/obstacle/ogm.hpptasks/plan/keb_utils.cppdata/obstacle/ogm.cppdata/boundary/driving_corridor.cpphmi/draw/draw_perception.cpp51819254225b35991f7648de9c4d98c51f1e32b21784793352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 烟台车内/柱子/房子点云及下沉坑点适配
新增 107/108/110/111 四种点云类型: 前三者(车辆内部/柱子/房子点云)标记
为无效点云, 碰撞与侧避均不考虑; 下沉坑点(111)按路边点云同等逻辑处理,
参与侧避绕行(限速不因它降速, 但 gap/碰撞仍当墙, KEB 补画为障碍规避)。
2026-07-23 15:55:52 +080051819254225b35991f7648de9c4d98c51f1e32b2feat: 烟台车内/柱子/房子点云及下沉坑点适配editdata/obstacle/ogm.cppeditdata/obstacle/ogm.hppedittasks/plan/keb_utils.cppedithmi/draw/draw_perception.cppeditdata/boundary/driving_corridor.cpp
- data/map/pnc_map/pnc_map_path.cppdata/obstacle/decision/obstacle_decision.hppdata/boundary/driving_corridor.cppdata/obstacle/decision/obstacle_decision.cppdata/boundary/road_boundary.cppdata/boundary/road_boundary.hppdata/map/pnc_map/pnc_map_path.hpp336c09dfd3035a62ada742b79f001dbda066f0c31784807246000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 会车让行逆向道几何改用 guide 系断面, 钳制线改为逆向道近边界
坐标系纠错:
障碍物 sl_boundary 由 GenerateRefSlBoundary(guide_line) 生成, 是 guide 系,
原实现却拿它的 s 去查 reference_line().pnc_map_path() 的 ref 系逆向道表,
两系不重合时取到错误断面; 且硬编码主参考线, standby 断面直接查错线。
改为在 GenerateRoadBoundary 建表时用 point_info.s() 从该断面对应的那条
参考线取, 存进 BoundaryPt, 与 lane_left_l 同源, 消费侧全在 guide 系查。
顺带补 rev_s<0 早退(GetBoundaryFromS 对负 s 退化返回最远断面)。
钳制线纠错:
原钳到自车道左边线, 而"不借道"的硬线是逆向道近边界, 二者之间的本方向
其余车道与道间缝隙被白白没收; 本方向多车道时还会拦住合法的同向换道绕行。
改为 lane_left_l + reverse_lane_gap(自车道边线到逆向道近边界的距离),
承诺判据线同步取同一条, 否则同向换道会被误判成"已借逆向道"而撤销钳制。
地图两 road 重叠(gap<0)时该线比车道边线更靠右, 反而堵住侵入漏洞。
只搬差值(宽度、缝隙)不搬 near/far 绝对量: 差值的参考系零点相消, 绝对量
搬进 guide 系必须先减 point_info.l()。
SSEP 断面排除:
该段无对应参考线, lane_left_l 停在"半车宽+0.15"兜底值而本身是 left_l=10
的开阔区; meeting_yield 是帧级开关而 guide line 多段拼接, 不排除会把开阔
的 SSEP 段硬缩到贴车身。
2026-07-23 19:47:26 +0800336c09dfd3035a62ada742b79f001dbda066f0c3fix: 会车让行逆向道几何改用 guide 系断面, 钳制线改为逆向道近边界editdata/boundary/road_boundary.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/boundary/driving_corridor.cppeditdata/map/pnc_map/pnc_map_path.hppeditdata/boundary/road_boundary.cppeditdata/map/pnc_map/pnc_map_path.cppeditdata/obstacle/decision/obstacle_decision.hpp
- data/decide/decide_reaction.cppdata/decide/decide_reaction.hppnode/logic.cppsink/ros_sink_record_trigger.cpp2bc76bf271b37cbd6e4fb2c4eb1b0e65228db1bf1784873600000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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
2026-07-24 14:13:20 +08002bc76bf271b37cbd6e4fb2c4eb1b0e65228db1bffeat: HMI快照按钮触发发SNAP录包(关掉决策结果保存)editnode/logic.cppeditdata/decide/decide_reaction.cppeditsink/ros_sink_record_trigger.cppeditdata/decide/decide_reaction.hpp
- tasks/deciders/long_decider/constrain_decider.cppdata/boundary/driving_corridor.cppcommon/util/express.cppdata/config/cfg_lat_plan.cppdata/boundary/driving_corridor.hppdata/constrain/longitude_constrain.cppbef81f367cafc8ae74ab8e77155a23d1478f14c71784874214000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 窄会车主动贴右让行(走廊左界钳到对向车近侧)+修急停判定两处笔误
- 走廊 Init 注入 narrow_hug: 距会车点 kHugLeadS 内把左界钳到"对向车近侧-余量",
逼 DP/PJPO 贴右, 横向让出空间给对向车; 读 his 帧结果同时喂 DP 与 PJPO
- 判窄改用交互过滤前的几何净空(raw_l_intervals), 不再要求收窄锁存 active,
避免"对向车已压上路径才判窄"(该刹车非靠边)的时机错位
- 逐断面存对向车近侧 l(narrow_hug_near_l_), 贴对向车而非道路右界免疫弯道 SL 畸变
- GenerateBoundary 贴右时右侧障碍源保留最小膨胀(kNarrowRightObsKeep), 防啃 og 点
- 缩跟车距离加距会车点门(kNarrowFollowLeadS), 与贴右提前量口径一致
- side_margin 默认 0.4→0.6
- 修 constrain_decider 两处: fabs(end_l()<=3.0) 括号错位; 横向切入判定
M_2_PI(36°)误用应为 M_PI_2(90°), 致同向并行车误急停/斜插漏拦
2026-07-24 14:23:34 +0800bef81f367cafc8ae74ab8e77155a23d1478f14c7feat: 窄会车主动贴右让行(走廊左界钳到对向车近侧)+修急停判定两处笔误editdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppedittasks/deciders/long_decider/constrain_decider.cppeditcommon/util/express.cppeditdata/constrain/longitude_constrain.cppeditdata/config/cfg_lat_plan.cpp
- data/boundary/driving_corridor.cppb3106e93ac9e3d2edae8c64ad2ea91fc7c15e8771784874580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 窄会车贴右就近查改单调游标(O(n²)→均摊O(n)), 诊断日志降频
- Init 内 his_hug/his_pb 逐断面线性扫描改只前进的单调游标: 二者沿行驶方向
单调且与本帧 while 同向, start_s 单调推进→最近邻单调推进, 均摊 O(n);
仅采信半个 interval 内最近点, 阈值语义与原线性扫描一致
- [narrow_hug]/[narrow_hug_dbg]/[narrow_meet] 三条诊断日志频率降到 EVERY_N 50
2026-07-24 14:29:40 +0800b3106e93ac9e3d2edae8c64ad2ea91fc7c15e877perf: 窄会车贴右就近查改单调游标(O(n²)→均摊O(n)), 诊断日志降频editdata/boundary/driving_corridor.cpp
- ssep/scenarios/tractor_trailer_single_segment_parking_planner.hbacd6f75095ebef05f68e0eaf0414f92cb592fee1784878619000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题
2026-07-24 15:36:59 +0800bacd6f75095ebef05f68e0eaf0414f92cb592feechore: 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
- data/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cpped38742ac3653b98bffbf6039acd113a38e5c05d1784943547000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景
2026-07-25 09:39:07 +0800ed38742ac3653b98bffbf6039acd113a38e5c05dfeat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景editdata/ssep/forward_ec.cppeditdata/config/cfg_region.cppeditdata/config/cfg_region.hpp
- data/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppc2113047bac08d73e9035f2f77f37a6270bc6e0e1784943859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景
2026-07-25 09:44:19 +0800c2113047bac08d73e9035f2f77f37a6270bc6e0efeat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景editdata/config/cfg_region.cppeditdata/config/cfg_region.hppeditdata/ssep/forward_ec.cpp
- data/decide/decide_reaction.cppdata/decide/decide_reaction.hppnode/logic.cppsink/ros_sink_record_trigger.cpp1e0426b45af918c79f26461ff56f81c6830e8b3b1784943875000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 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
2026-07-25 09:44:35 +08001e0426b45af918c79f26461ff56f81c6830e8b3bfeat: HMI快照按钮触发发SNAP录包(关掉决策结果保存)editdata/decide/decide_reaction.hppeditnode/logic.cppeditdata/decide/decide_reaction.cppeditsink/ros_sink_record_trigger.cpp
- data/config/cfg_func_sw.cppdata/ssep/ex_lane_change_ec.cppdata/config/cfg_func_sw.hppa93cf96e88f3a7a11105b1445a36733642ee3fe71785120780000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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。
2026-07-27 10:53:00 +0800a93cf96e88f3a7a11105b1445a36733642ee3fe7fix: 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editdata/config/cfg_func_sw.cppeditdata/ssep/ex_lane_change_ec.cppeditdata/config/cfg_func_sw.hpp
- data/ssep/ex_lane_change_ec.cppdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp92088627602c301bd21d516bfa3654bcba0cc8181785121109000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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。
2026-07-27 10:58:29 +080092088627602c301bd21d516bfa3654bcba0cc818fix: 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editdata/ssep/ex_lane_change_ec.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hpp
- data/obstacle/reverse_lane_approach.cpphmi/draw/draw_constrain.cppdata/config/cfg_hmi.hppdata/obstacle/reverse_lane_approach.hppdata/constrain/longitude_constrain.cpptasks/deciders/long_decider/constrain_decider.hppdata/config/cfg_hmi.cppdata/constrain/long_target.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/app/fsm/stop_reason.cpphmi/draw/draw_reverse_approach.hppdata/config/cfg_safe_const.hpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/config/cfg_safe_const.cppdata/plan_frame.hppdata/constrain/longitude_constrain.hppcommon/util/express.cppdata/plan_frame.cpphmi/draw/draw_reverse_approach.cpphmi/node_hmi.cpp37e60d1fffdd460496b2b6249ed71c92517de4c91785163467000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 逆向车道快速接近凸包停车防护(cluster兜底)
对向来车未被感知分类为obj、只输出TYPE_CLUSTER时, PNC纵向决策对它完全无反应:
cluster不进interested因而无decider_attr, FromHis跳过它因而无历史, ST按静态建
且不进path_time_obstacles_, 唯一影响是写OGM当前占用->只限速不停车。对"点云少+
速度快"的逆向来车, 等它进自车path时已无刹停距离。
cluster无id概念、前后帧id不对应, 因此判据做成不依赖id的标量时序:
- 逆向车道链: 自车已驶入转弯lane(无逆向邻车道)时沿参考线回退到弯道前直道作
锚点, 再沿直道predecessor往上游延伸, 终止条件是"自车上游累计长度够不够",
不是级数/链总长(单条lane就可能几百米, 按总长封顶会一次都延伸不进去)
- 冲突区: 自车走廊与对向道路判定带的重叠段, 不用两条中心线求交 —— 车体有
宽度, 中心线不相交时车照样扫过去
- 判据: cluster投影到逆向链自身量弧长(不碰guide的SL, 规避弯道投影问题),
帧级批量关联维持航迹, 两车占用冲突区的时间窗交叠即触发
防误停三道门: 路沿侧边界内缩、接近速度死区、航迹成熟度。
停止线保持2s防判据抖动导致点头; 车头横向切入对向道路超阈则整体释放 —— 进区
后再停等于横在对向道上挡路, 比抢过去更危险。
灰度use_reverse_approach_stop默认关, 12项参数均可rosparam调。
HMI"逆向车道接近"菜单画链/道路边界/判定带/冲突区/命中cluster, 状态行给出各道
门的通过情况。
2026-07-27 22:44:27 +080037e60d1fffdd460496b2b6249ed71c92517de4c9feat: 逆向车道快速接近凸包停车防护(cluster兜底)editdata/constrain/longitude_constrain.cppedithmi/widget/pnc_mat_shared.cppeditdata/config/cfg_safe_const.cppeditdata/constrain/longitude_constrain.hppeditdata/config/cfg_hmi.cppeditdata/config/cfg_hmi.hppeditdata/constrain/long_target.cppadddata/obstacle/reverse_lane_approach.cppeditdata/config/cfg_func_sw.cppaddhmi/draw/draw_reverse_approach.cppedithmi/draw/draw_constrain.cppedithmi/draw/draw_all.cppeditdata/app/fsm/stop_reason.cppeditdata/plan_frame.hppeditcommon/util/express.cppaddhmi/draw/draw_reverse_approach.hppeditdata/plan_frame.cppedittasks/deciders/long_decider/constrain_decider.hppedithmi/node_hmi.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.hppadddata/obstacle/reverse_lane_approach.hpp
- data/config/cfg_func_sw.hppb61c553c0f4ff9a36aedab5c5614f28b518af1c21785198914000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 逆向车道接近防护灰度默认打开
hpp 类内初始化与 cpp 的 rosparam 默认值一并改 true —— 前者在回放
version<16 的老 dump 时生效, 只改后者会让老包回放仍是关的。
2026-07-28 08:35:14 +0800b61c553c0f4ff9a36aedab5c5614f28b518af1c2chore: 逆向车道接近防护灰度默认打开editdata/config/cfg_func_sw.hpp
- hmi/draw/draw_constrain.cppafa15f9f2342928ced17b1889a3035764b1152441785214793000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 窄会车限速HMI补绘制颜色, 原落到default暗红
2026-07-28 12:59:53 +0800afa15f9f2342928ced17b1889a3035764b115244fix: 窄会车限速HMI补绘制颜色, 原落到default暗红edithmi/draw/draw_constrain.cpp
- data/config/cfg_env_const.hppdata/config/cfg_topic.hpphmi/draw/draw_constrain.cppdata/config/cfg_topic.cppdata/constrain/longitude_constrain.cpptasks/deciders/long_decider/constrain_decider.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cpphmi/widget/diagnose.cppsource/ros_source_traffic_light.cppdata/vehicle/traffic_light_data.cppdata/constrain/disable_stop_range.cppsource/ros_source_traffic_light.hppdata/constrain/disable_stop_range.hppdata/vehicle/traffic_light_data.hppdata/plan_frame.hppdata/constrain/longitude_constrain.hppcommon/util/express.cppsource/module.cpp29aab4d28dc68f370f38bc4787b9fa5c55d256b91785215545000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 红绿灯实时灯态停车, 含倒计时通行判断与红灯缓行
从 feat_traffic 移植实时灯态接入, 原逻辑只按地图判"路口有灯就停",
现改为按灯色放行:
- 新增 TrafficLightData 与 ROS 源, 订阅 traffic_light_det
- 按路口转向选相位判定停走, 补齐右转灯(未检出右转灯时维持放行)
- HMI 诊断显示灯态与倒计时
倒计时(感知复用 conf 字段承载)相关:
- 绿灯剩余不足以让车头驶出路口时提前停等; 已无法在停止线前停住
则继续通过, 避免明知停不住仍急刹
- 红灯将结束时压低接近速度缓行; 停止线约束保留, 不会闯红灯
移植修正:
- FromMsg 补 clear(), 原实现跨帧累积会让历史绿灯命中 IsHaveStatus
- ROS 源补 mutex, 与其余数据源一致
- 未移植 NeedTrafficLightStop 里的调试用 return true(会架空灰度开关)
灰度 use_func_traffic_light_countdown / use_func_traffic_light_creep
默认关; PlanFrame 序列化升至 version 6, 新字段按版本追加。
2026-07-28 13:12:25 +080029aab4d28dc68f370f38bc4787b9fa5c55d256b9feat: 红绿灯实时灯态停车, 含倒计时通行判断与红灯缓行editdata/constrain/longitude_constrain.hppedithmi/widget/diagnose.cppeditsource/module.cppeditdata/config/cfg_topic.cppadddata/vehicle/traffic_light_data.cppeditdata/config/cfg_topic.hppeditcommon/util/express.cppeditdata/constrain/longitude_constrain.cppeditdata/constrain/disable_stop_range.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppadddata/vehicle/traffic_light_data.hppaddsource/ros_source_traffic_light.cppeditdata/config/cfg_env_const.cppeditdata/plan_frame.hppedittasks/deciders/long_decider/constrain_decider.cppaddsource/ros_source_traffic_light.hppeditdata/config/cfg_env_const.hppeditdata/constrain/disable_stop_range.hppedithmi/draw/draw_constrain.cppedittasks/deciders/long_decider/constrain_decider.hpp
- data/vehicle/traffic_light_data.cpp9e7385a8a3484d64ba9b49974ca6230826de396e1785216327000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comstyle: 灯相位改指定初始化器, 防字段顺序变动时静默错位
2026-07-28 13:25:27 +08009e7385a8a3484d64ba9b49974ca6230826de396estyle: 灯相位改指定初始化器, 防字段顺序变动时静默错位editdata/vehicle/traffic_light_data.cpp
- hmi/draw/draw_map.hpphmi/draw/draw_map.cpp23b1fbfac1ccccc0570406cec64bbe47367d9b691785216718000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 地图标注红绿灯相位与倒计时, 挂动态层避免静态缓存不刷新
2026-07-28 13:31:58 +080023b1fbfac1ccccc0570406cec64bbe47367d9b69feat: 地图标注红绿灯相位与倒计时, 挂动态层避免静态缓存不刷新edithmi/draw/draw_map.cppedithmi/draw/draw_map.hpp
- CMakeLists.txtf7fe9b1838d7deb33e6534ab396cc6efefd484ad1785222216000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.combuild: Debug 调试信息拆到 .dwo, 链接改用 lld
-fstandalone-debug 让每个 .o 都带完整调试信息, 全量产出 819 个 .o 共 4.7GB、
可执行文件各 1.35GB, 结果 ccache 装不下一次全量(命中率仅 17%), 链接也很慢。
追加 -gsplit-dwarf 把调试信息拆到独立 .dwo, 不再进 .o 和最终二进制。两个 flag
各管一件事(前者决定类型完整性, 后者决定存放位置), 必须同时保留, 调试能力不变。
改动后 .o 总量降到 1.25GB, pnc_node 降到 768MB。
链接器在探测到 lld 时改用 lld, 链接阶段耗时占比从瓶颈降到 0.3%。lld 是独立包
不随 clang 一起装, 所以先问编译器能否使用再启用, 没装的机器回落系统默认链接器。
注意: .dwo 按相对路径记录, 调试器需从 build/ 目录启动才能定位。
2026-07-28 15:03:36 +0800f7fe9b1838d7deb33e6534ab396cc6efefd484adbuild: Debug 调试信息拆到 .dwo, 链接改用 lldeditCMakeLists.txt
- scenarios/task_condition_evaluator.cppd7c66ed883d6c439a310ea0f7569991cf1bf51ef1785229446000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用
2026-07-28 17:04:06 +0800d7c66ed883d6c439a310ea0f7569991cf1bf51effix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用editscenarios/task_condition_evaluator.cpp
- ssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/coarse_search/motion_primitive_sampler/dubins_path.cc4f9de105c49de6de1a32e3b706f16133628e64791785229562000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决终点区域被加入close set导致无法搜到终点的问题
2026-07-28 17:06:02 +08004f9de105c49de6de1a32e3b706f16133628e6479fix: SSEP: 解决终点区域被加入close set导致无法搜到终点的问题editssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/coarse_search/motion_primitive_sampler/dubins_path.cceditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cc
- ssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/maps/ogm_config_utils.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/protos/ssep_scenario_type.protossep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/data_structures/ssep_scenario_type.hppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cca56b63fa3d80b8b6fb06b27af17a45be8dbe73dc1785231684000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: IMV新增基于pass point倒车点的多段搜索
2026-07-28 17:41:24 +0800a56b63fa3d80b8b6fb06b27af17a45be8dbe73dcfeat: SSEP: IMV新增基于pass point倒车点的多段搜索editssep/data_structures/ssep_scenario_type.hppeditssep/maps/ogm_config_utils.ccaddssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.haddssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/protos/ssep_scenario_type.protoaddssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
- data/plan/path_direction_data.cppb2f9bbd3d848b5a7587239e398db547471e9b00c1785233883000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 锁站方向判定增加终点在车后倒车分支
终点在车后且对齐余量超过 1m 时直接置为倒车方向, 避免落到
req_step_align 分支后按前进方向规划。
2026-07-28 18:18:03 +0800b2f9bbd3d848b5a7587239e398db547471e9b00cfeat: 锁站方向判定增加终点在车后倒车分支editdata/plan/path_direction_data.cpp
- data/map/reference/center_line.cpp555643794eb3726b03b06138afd7b43fecee22411785237895000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 途径点匹配改按横向距离绝对值取最近中心线
引桥/岸桥/park/buffer/lane_change 五处筛选中心线时, min_l 初值为 DBL_MAX
却用带符号的 l() 比较, 实际选出的是横向偏移最负(最靠右)的那条, 而非横向
最近的。外层已按 fabs(l()) < 2.0 过滤, 内层比较与之矛盾。改为与
UpdateDestAttr / UpdateCurrentAttr 一致的 fabs 写法。
2026-07-28 19:24:55 +0800555643794eb3726b03b06138afd7b43fecee2241fix: 途径点匹配改按横向距离绝对值取最近中心线editdata/map/reference/center_line.cpp
- data/map/reference/center_line.hppdata/plan/switch_data.hppdata/map/reference/center_line.cpp55345aae591d63ec186a92ce017ada334467c55c1785240143000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)
判定:
- 变道左右邻的 distance 跨越数不同, 原 check_range 被右邻覆盖后左侧实线
检查也复用它, 拆成 left/right 各算各的
- 引桥途径点 s 只算不用, 结果取到最后一个而非最近的, 补上筛选
- seaside/lane_change 比较用 start_match.s() 却存 end_match.s(), 下一轮
比较基准错位, 统一回 start
越界与崩溃防护:
- RelationOfRefByIdx 两个重载空容器时 size()-1 下溢, 后面 CHECK 必失败,
改优雅返回 INT32_MAX(46 处调用点已按此值处理)
- UpdateSwitchAttr 开头补 empty() 早退, 原先 back() 无保护
- JudgeIsInBlackLane 查的是邻车道, 补 idx==0 查左邻的边界判断
- GetBlackLaneDistanceFromEgo 的 count 是变道相对关系可为负, idx+count
走 size_t 会下溢, 改 int64_t 中转后校验
- SwitchData::curr_lane_idx_/target_lane_idx_ 无类内初始化也不在构造列表,
补 SIZE_MAX
冗余拷贝(均为每帧热路径, CenterLine 含完整点列):
- UpdateBlackLaneDistance 深拷贝整个 MltCenterLines
- GetBlackLaneDistanceFromEgo 首次 at(idx) 拷贝立即被覆盖
- JudgeIsInBlackLane 按值拷贝邻车道
死代码:
- 136 行注释掉的 lane_change 旧实现
- LaneChangePtIsInCurPath(条件括号错位致语义反转, 仅注释块内调用)
- buffer 途径点在 center_line 侧的链路(赋值处早已注释, 无消费者);
AppReaction::buffer_passing_pts_ 仍在用, 未动
2026-07-28 20:02:23 +080055345aae591d63ec186a92ce017ada334467c55cfix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)editdata/map/reference/center_line.hppeditdata/plan/switch_data.hppeditdata/map/reference/center_line.cpp
- CMakeLists.txtec9340249732808b8bb0aff790e41a93e52afb951785240696000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.combuild: Debug 调试信息拆到 .dwo, 链接改用 lld
-fstandalone-debug 让每个 .o 都带完整调试信息, 全量产出 819 个 .o 共 4.7GB、
可执行文件各 1.35GB, 结果 ccache 装不下一次全量(命中率仅 17%), 链接也很慢。
追加 -gsplit-dwarf 把调试信息拆到独立 .dwo, 不再进 .o 和最终二进制。两个 flag
各管一件事(前者决定类型完整性, 后者决定存放位置), 必须同时保留, 调试能力不变。
改动后 .o 总量降到 1.25GB, pnc_node 降到 768MB。
链接器在探测到 lld 时改用 lld, 链接阶段耗时占比从瓶颈降到 0.3%。lld 是独立包
不随 clang 一起装, 所以先问编译器能否使用再启用, 没装的机器回落系统默认链接器。
注意: .dwo 按相对路径记录, 调试器需从 build/ 目录启动才能定位。
2026-07-28 20:11:36 +0800ec9340249732808b8bb0aff790e41a93e52afb95build: Debug 调试信息拆到 .dwo, 链接改用 lldeditCMakeLists.txt
- scenarios/task_condition_evaluator.cpp8a87ff88ceb619b57bc3fb2609e3e5d5731598a11785240705000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用
2026-07-28 20:11:45 +08008a87ff88ceb619b57bc3fb2609e3e5d5731598a1fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用editscenarios/task_condition_evaluator.cpp
- data/plan/path_direction_data.cpp7268950b8f11da77e93c148cf9e661c3969825331785240867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 锁站方向判定增加终点在车后倒车分支
终点在车后且对齐余量超过 1m 时直接置为倒车方向, 避免落到
req_step_align 分支后按前进方向规划。
2026-07-28 20:14:27 +08007268950b8f11da77e93c148cf9e661c396982533feat: 锁站方向判定增加终点在车后倒车分支editdata/plan/path_direction_data.cpp
- data/map/reference/center_line.cppffcbaf27b3966535b3120134e0ae867ba6af70981785240895000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 途径点匹配改按横向距离绝对值取最近中心线
引桥/岸桥/park/buffer/lane_change 五处筛选中心线时, min_l 初值为 DBL_MAX
却用带符号的 l() 比较, 实际选出的是横向偏移最负(最靠右)的那条, 而非横向
最近的。外层已按 fabs(l()) < 2.0 过滤, 内层比较与之矛盾。改为与
UpdateDestAttr / UpdateCurrentAttr 一致的 fabs 写法。
2026-07-28 20:14:55 +0800ffcbaf27b3966535b3120134e0ae867ba6af7098fix: 途径点匹配改按横向距离绝对值取最近中心线editdata/map/reference/center_line.cpp
- data/plan/switch_data.hppdata/map/reference/center_line.hppdata/map/reference/center_line.cpp07d92304fb54c78cba2b3372c5c505f2b6438d9d1785240905000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)
判定:
- 变道左右邻的 distance 跨越数不同, 原 check_range 被右邻覆盖后左侧实线
检查也复用它, 拆成 left/right 各算各的
- 引桥途径点 s 只算不用, 结果取到最后一个而非最近的, 补上筛选
- seaside/lane_change 比较用 start_match.s() 却存 end_match.s(), 下一轮
比较基准错位, 统一回 start
越界与崩溃防护:
- RelationOfRefByIdx 两个重载空容器时 size()-1 下溢, 后面 CHECK 必失败,
改优雅返回 INT32_MAX(46 处调用点已按此值处理)
- UpdateSwitchAttr 开头补 empty() 早退, 原先 back() 无保护
- JudgeIsInBlackLane 查的是邻车道, 补 idx==0 查左邻的边界判断
- GetBlackLaneDistanceFromEgo 的 count 是变道相对关系可为负, idx+count
走 size_t 会下溢, 改 int64_t 中转后校验
- SwitchData::curr_lane_idx_/target_lane_idx_ 无类内初始化也不在构造列表,
补 SIZE_MAX
冗余拷贝(均为每帧热路径, CenterLine 含完整点列):
- UpdateBlackLaneDistance 深拷贝整个 MltCenterLines
- GetBlackLaneDistanceFromEgo 首次 at(idx) 拷贝立即被覆盖
- JudgeIsInBlackLane 按值拷贝邻车道
死代码:
- 136 行注释掉的 lane_change 旧实现
- LaneChangePtIsInCurPath(条件括号错位致语义反转, 仅注释块内调用)
- buffer 途径点在 center_line 侧的链路(赋值处早已注释, 无消费者);
AppReaction::buffer_passing_pts_ 仍在用, 未动
2026-07-28 20:15:05 +080007d92304fb54c78cba2b3372c5c505f2b6438d9dfix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)editdata/plan/switch_data.hppeditdata/map/reference/center_line.hppeditdata/map/reference/center_line.cpp
- data/config/vehicle_kinematics.hppmath/dubins_curve/dubins_curve.hppf52a80e3e066ada24ab08c9c3386d1f6dcc18f1a1785242096000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加车辆最大曲率计算函数，优化运动学处理
2026-07-28 20:34:56 +0800f52a80e3e066ada24ab08c9c3386d1f6dcc18f1afeat: 添加车辆最大曲率计算函数，优化运动学处理adddata/config/vehicle_kinematics.hppeditmath/dubins_curve/dubins_curve.hpp
- hmi/draw/draw_path_boundary.hpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_path_boundary.cpphmi/draw/draw_all.cpp5b27175f0138069d8f6b7d25750b6511d52adb1a1785246274000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: HMI 显示 road boundary 的 shift type
在 road boundary 左边界点旁标注每段的 shift type, 类型跳变处各标一个,
同类型连续断面不重复标。
文字画在 cv::flip 之后(flip 前画会上下颠倒), 沿用 DrawReverseApproach
的两段式: Draw 阶段只缓存 UTM 锚点, DrawText 做坐标变换并出字。
2026-07-28 21:44:34 +08005b27175f0138069d8f6b7d25750b6511d52adb1afeat: HMI 显示 road boundary 的 shift typeedithmi/draw/draw_path_boundary.hppedithmi/widget/pnc_mat_shared.cppedithmi/draw/draw_path_boundary.cppedithmi/draw/draw_all.cpp
- data/common/trajectory_point.cpp6d93e3a9c729dba971bb8b40f0600f479bffc1801785300131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 TrajectoryPoints 三处按弧长插值的参数误用
MatchPtByt/MatchPtByS/MatchMultiPtsByMultiS 都把 [0,1] 的比例传给
InterpPtByLinearS, 而后者第三参是绝对弧长, 于是恒命中其 "p0.s() >= s - 0.01"
早退分支 —— 轨迹中段 s 是几十米量级、恒大于比例值, 插值从未真正生效, 取点一直
退化成按离散点向下取整。
- MatchPtByt: 把时间比例换算成对应弧长再传
- MatchPtByS / MatchMultiPtsByMultiS: 本就按 s 查, 直接传 s
- MatchMultiPtsByMultiS: 顺带修解引用 end() 的 UB 与 l/u 写反(该函数无调用方)
- InterpPtByLinearS: z_ 是被重载的字段(存挂车横摆角, 另有 10000 终止哨兵),
插值真正生效后不能再盲目 lerp —— 任一端越界或两端相差超过 pi 时取下界点
影响面较大: obstacle 预测采样、DP 动态代价、走廊 s<->t 反查、lattice 停车轨迹、
cloud_trajectory 都从"取整"变为"真插值", 数值会有变化, 目前只验证过变道场景。
2026-07-29 12:42:11 +08006d93e3a9c729dba971bb8b40f0600f479bffc180fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用editdata/common/trajectory_point.cpp
- Testing/pjpo_case_test.cpptasks/deciders/lat_decider/switching_bounds_decider.cppalgorithm/plan/pjpo.cppdata/plan/start_point_data.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppd22a1c8ac945ee70b47bf11a0263366d995c84f91785300165000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲
一、变道横移走不完(车挪 1~3m 就停住, 路径起点段变直)
车的横移速率 ≈ init_dl × v(每帧只执行路径最前约 0.5m), 所以起点斜率一旦被压到
0, 路径形状再对车也不动。两处把它压到 0:
- 起点 dl 在变道场景恢复硬约束(新增 soften_init_dl)。dcf2390c1 为治 side-pass
的起点 kappa kink 把 init_dl 软化, 但变道恰恰需要起点持续保持朝目标的横移
斜率, 软化后 QP 每帧把它拉回 0(kSoftInitPenalty 相对 l_ref 权重极低, 拉回几乎
无代价), 实测逐帧 0.113 -> 0.0137 -> 0.00065。
- kInitDlOutwardMax 的"向外"判据改为相对 path_reference_l。原按 init_l 符号判,
会把 PREPARE 段"正朝目标车道靠拢"误判成向外漂移(实测 ref_l=1.57/init_l=0.82/
init_dl=0.06), 起点斜率被夹死在 0.05。
另新增 BoostLaneChangeInitDl: QP 每帧的解从起点起 dl 就单调递减, 而车只执行起点
段, 构成一阶惯性环节(指数收敛、尾巴无限长), 只能在入口给定横移速率下限打破。
二、跨两车道路径扭曲(变一道正常, 变两道路径扭、控制跟不住而触发曲率限速)
- 变道 dl 上限放宽到 0.8。单车道 S 曲线峰值仅 0.26, 跨两车道需 ~0.5, 恰好顶死
±0.5 上限, QP 在约束边界上滑动导致解非光滑。用同一帧 dump 离线扫描, dl 拐点
数与触限程度严格对应: 0.3->7, 0.5->3, 0.8->1; 放宽后实际只用到 0.505。
- config_local 的 lane_change_weight.dl_weight 20->5000(不在本仓库, 需单独同步)
压 dl 峰值治"急": 峰值 0.42->0.30, 拐点 2->0, 收敛距离 18m->44.5m。
三、连带修复
- init_dl 为硬约束时补上夹进 dl 边界。piecewise_jerk_problem 把 dx[0] 上下界同设
为 init 值(硬等式), 与 dx 的 box 约束矛盾时 OSQP 直接 primal infeasible, 而变道
关闭了 all_soft 兜底, 会一路掉到 last_path fallback。
- 起点 dl/ddl 增加 Frenet 直传(参考线几何未变时从上一帧解按 s 取), 绕开 Cartesian
往返; 失败自动回退反算。
- PjpoConstraintOptions 序列化补 enable_all_soft_fallback(版本 2->3)。生产置 false
而结构体默认 true, 之前从不入档, 离线回放会多挂 all_soft 档致复现不可信。
- 新增离线工具 AnalyzeDlBoundEffect(扫 dl 上限/权重, 打印 opt_dl 曲线与拐点数)与
SidePassOutwardClampRegression(比对新旧向外判据并校验解是否退化)。
验证: 实车变道正常、曲率连续; side-pass 回归 72 例 0 退化, 其中 1 例判据差异是对
旧判据误夹的纠正(车朝走廊中点走却被当成向外漂移)。
2026-07-29 12:42:45 +0800d22a1c8ac945ee70b47bf11a0263366d995c84f9fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲edittasks/deciders/lat_decider/switching_bounds_decider.cppeditalgorithm/plan/pjpo.hppedittasks/plan/pjpo_task.cppeditTesting/pjpo_case_test.cppeditalgorithm/plan/pjpo.cppeditdata/plan/start_point_data.cpp
- data/ssep/forward_ec.cpp494a4c03c12d713a4f2c572f39263f19537749f21785300245000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 梁山港进料场景也使用通用牵引挂车泊车场景
原先仅出料(BulkOut)时设为 kTractorTrailerGeneral, 现进料(BulkIn)同样适用。
2026-07-29 12:44:05 +0800494a4c03c12d713a4f2c572f39263f19537749f2feat: 梁山港进料场景也使用通用牵引挂车泊车场景editdata/ssep/forward_ec.cpp
- data/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hpp6b68ccaa05a2dfddc975df3c86c4ab8b783fa6d21785303286000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 云端轨迹下发各 lane 的剩余长度与总长度
Traj.msg 的 length_s/total_length_s 与 lane_ids 逐项对齐, 取值来自
第一条引导线的 line_infos: 自车所在 lane 只算未走完的部分, 其后的
lane 取引导线覆盖的全长; 变道备用引导线不下发长度。
2026-07-29 13:34:46 +08006b68ccaa05a2dfddc975df3c86c4ab8b783fa6d2feat: 云端轨迹下发各 lane 的剩余长度与总长度editdata/plan/cloud_trajectory.hppeditdata/plan/cloud_trajectory.cpp
- data/common/trajectory_point.cpp110e813513452226d19c6b61ef6ade1f9018d9ca1785308178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 TrajectoryPoints 三处按弧长插值的参数误用
MatchPtByt/MatchPtByS/MatchMultiPtsByMultiS 都把 [0,1] 的比例传给
InterpPtByLinearS, 而后者第三参是绝对弧长, 于是恒命中其 "p0.s() >= s - 0.01"
早退分支 —— 轨迹中段 s 是几十米量级、恒大于比例值, 插值从未真正生效, 取点一直
退化成按离散点向下取整。
- MatchPtByt: 把时间比例换算成对应弧长再传
- MatchPtByS / MatchMultiPtsByMultiS: 本就按 s 查, 直接传 s
- MatchMultiPtsByMultiS: 顺带修解引用 end() 的 UB 与 l/u 写反(该函数无调用方)
- InterpPtByLinearS: z_ 是被重载的字段(存挂车横摆角, 另有 10000 终止哨兵),
插值真正生效后不能再盲目 lerp —— 任一端越界或两端相差超过 pi 时取下界点
影响面较大: obstacle 预测采样、DP 动态代价、走廊 s<->t 反查、lattice 停车轨迹、
cloud_trajectory 都从"取整"变为"真插值", 数值会有变化, 目前只验证过变道场景。
2026-07-29 14:56:18 +0800110e813513452226d19c6b61ef6ade1f9018d9cafix: 修复 TrajectoryPoints 三处按弧长插值的参数误用editdata/common/trajectory_point.cpp
- Testing/pjpo_case_test.cppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppalgorithm/plan/pjpo.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppda4be3630541b4f5bdbf9c92a634bdf9edf092ca1785308190000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲
一、变道横移走不完(车挪 1~3m 就停住, 路径起点段变直)
车的横移速率 ≈ init_dl × v(每帧只执行路径最前约 0.5m), 所以起点斜率一旦被压到
0, 路径形状再对车也不动。两处把它压到 0:
- 起点 dl 在变道场景恢复硬约束(新增 soften_init_dl)。dcf2390c1 为治 side-pass
的起点 kappa kink 把 init_dl 软化, 但变道恰恰需要起点持续保持朝目标的横移
斜率, 软化后 QP 每帧把它拉回 0(kSoftInitPenalty 相对 l_ref 权重极低, 拉回几乎
无代价), 实测逐帧 0.113 -> 0.0137 -> 0.00065。
- kInitDlOutwardMax 的"向外"判据改为相对 path_reference_l。原按 init_l 符号判,
会把 PREPARE 段"正朝目标车道靠拢"误判成向外漂移(实测 ref_l=1.57/init_l=0.82/
init_dl=0.06), 起点斜率被夹死在 0.05。
另新增 BoostLaneChangeInitDl: QP 每帧的解从起点起 dl 就单调递减, 而车只执行起点
段, 构成一阶惯性环节(指数收敛、尾巴无限长), 只能在入口给定横移速率下限打破。
二、跨两车道路径扭曲(变一道正常, 变两道路径扭、控制跟不住而触发曲率限速)
- 变道 dl 上限放宽到 0.8。单车道 S 曲线峰值仅 0.26, 跨两车道需 ~0.5, 恰好顶死
±0.5 上限, QP 在约束边界上滑动导致解非光滑。用同一帧 dump 离线扫描, dl 拐点
数与触限程度严格对应: 0.3->7, 0.5->3, 0.8->1; 放宽后实际只用到 0.505。
- config_local 的 lane_change_weight.dl_weight 20->5000(不在本仓库, 需单独同步)
压 dl 峰值治"急": 峰值 0.42->0.30, 拐点 2->0, 收敛距离 18m->44.5m。
三、连带修复
- init_dl 为硬约束时补上夹进 dl 边界。piecewise_jerk_problem 把 dx[0] 上下界同设
为 init 值(硬等式), 与 dx 的 box 约束矛盾时 OSQP 直接 primal infeasible, 而变道
关闭了 all_soft 兜底, 会一路掉到 last_path fallback。
- 起点 dl/ddl 增加 Frenet 直传(参考线几何未变时从上一帧解按 s 取), 绕开 Cartesian
往返; 失败自动回退反算。
- PjpoConstraintOptions 序列化补 enable_all_soft_fallback(版本 2->3)。生产置 false
而结构体默认 true, 之前从不入档, 离线回放会多挂 all_soft 档致复现不可信。
- 新增离线工具 AnalyzeDlBoundEffect(扫 dl 上限/权重, 打印 opt_dl 曲线与拐点数)与
SidePassOutwardClampRegression(比对新旧向外判据并校验解是否退化)。
验证: 实车变道正常、曲率连续; side-pass 回归 72 例 0 退化, 其中 1 例判据差异是对
旧判据误夹的纠正(车朝走廊中点走却被当成向外漂移)。
2026-07-29 14:56:30 +0800da4be3630541b4f5bdbf9c92a634bdf9edf092cafix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲editalgorithm/plan/pjpo.hppeditdata/plan/start_point_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppedittasks/plan/pjpo_task.cppeditTesting/pjpo_case_test.cppeditalgorithm/plan/pjpo.cpp
- data/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hpp8625a005fd68e71ee1e7bdf936f0c6edfc0d9b7e1785308274000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 云端轨迹下发各 lane 的剩余长度与总长度
Traj.msg 的 length_s/total_length_s 与 lane_ids 逐项对齐, 取值来自
第一条引导线的 line_infos: 自车所在 lane 只算未走完的部分, 其后的
lane 取引导线覆盖的全长; 变道备用引导线不下发长度。
2026-07-29 14:57:54 +08008625a005fd68e71ee1e7bdf936f0c6edfc0d9b7efeat: 云端轨迹下发各 lane 的剩余长度与总长度editdata/plan/cloud_trajectory.hppeditdata/plan/cloud_trajectory.cpp
- hmi/draw/draw_path_boundary.hpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_path_boundary.cpphmi/draw/draw_all.cpp30cbd506d639839b8df2171d9863099ea94920481785308450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: HMI 显示 road boundary 的 shift type
在 road boundary 左边界点旁标注每段的 shift type, 类型跳变处各标一个,
同类型连续断面不重复标。
文字画在 cv::flip 之后(flip 前画会上下颠倒), 沿用 DrawReverseApproach
的两段式: Draw 阶段只缓存 UTM 锚点, DrawText 做坐标变换并出字。
2026-07-29 15:00:50 +080030cbd506d639839b8df2171d9863099ea9492048feat: HMI 显示 road boundary 的 shift typeedithmi/draw/draw_path_boundary.cppedithmi/widget/pnc_mat_shared.cppedithmi/draw/draw_all.cppedithmi/draw/draw_path_boundary.hpp
- hmi/draw/draw_all.cpphmi/widget/pnc_mat_shared.cpp3359cfe5cd2ae8331fcf07d12735f02b624b095e1785309268000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复合并的bug
2026-07-29 15:14:28 +08003359cfe5cd2ae8331fcf07d12735f02b624b095efix:修复合并的bugedithmi/draw/draw_all.cppedithmi/widget/pnc_mat_shared.cpp
- tasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccalgorithm/plan/keb_optimizer.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.cce616fd804dd4aad2831290b29e1549a66b725bf21785314847000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: KEB: 集卡lane follow优化轨迹末状态使用软约束、调整参数
2026-07-29 16:47:27 +0800e616fd804dd4aad2831290b29e1549a66b725bf2chore: KEB: 集卡lane follow优化轨迹末状态使用软约束、调整参数editalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.h
- hmi/draw/draw_reverse_approach.hppdata/obstacle/reverse_lane_approach.cppreplayer/replayer_data_process/replayer_data_process.cppdata/obstacle/reverse_lane_approach.hppdata/plan_frame.hpptasks/deciders/long_decider/constrain_decider.cppdata/plan_frame.cpphmi/draw/draw_reverse_approach.cpphmi/replayer_hmi.cpp5c38a92c41b9a233368ed32efc2c4581518350181785324485000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 逆向车道接近支持 Replayer 回放诊断
2026-07-29 19:28:05 +08005c38a92c41b9a233368ed32efc2c458151835018feat: 逆向车道接近支持 Replayer 回放诊断edithmi/draw/draw_reverse_approach.cppeditdata/plan_frame.cppeditdata/plan_frame.hppeditdata/obstacle/reverse_lane_approach.hppedithmi/replayer_hmi.cppeditreplayer/replayer_data_process/replayer_data_process.cppedithmi/draw/draw_reverse_approach.hppeditdata/obstacle/reverse_lane_approach.cppedittasks/deciders/long_decider/constrain_decider.cpp
- data/obstacle/reverse_lane_approach.cppdata/obstacle/reverse_lane_approach.hpphmi/draw/draw_reverse_approach.cpp95407a6e3a73566bcde36b509d0f64e176ed25711785333570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正逆向车道防护区域构建
按 section real_lane_ids 过滤反向生成的重叠车道，统一初始候选和前驱链校验。
防护区域靠自车侧使用逆向车道左 lane boundary，按自车方向的左侧外沿使用逆向车道右 road boundary，避免正反向 road boundary 重叠造成区域越界。
冲突区域改为与自车走廊求交，并补充纵向 padding 与去重采样，避免垂直相交时 polygon 退化；同步更新 HMI 边界显示。
2026-07-29 21:59:30 +080095407a6e3a73566bcde36b509d0f64e176ed2571fix: 修正逆向车道防护区域构建editdata/obstacle/reverse_lane_approach.cppedithmi/draw/draw_reverse_approach.cppeditdata/obstacle/reverse_lane_approach.hpp
- data/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cpptasks/deciders/long_decider/constrain_decider.hpptasks/deciders/long_decider/constrain_decider.cppconfig/config_imv/plan.yamlconfig/config_car/plan.yamlf8383017ad40e74bba23f8eedfd1ed144d3a18e11785408734000http://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 18:52:14 +0800f8383017ad40e74bba23f8eedfd1ed144d3a18e1feat: 增加堆高机侧向吊具高度防护editconfig/config_car/plan.yamledittasks/deciders/long_decider/constrain_decider.hppeditconfig/config_truck/plan.yamleditdata/config/cfg_safe_const.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_safe_const.hppeditconfig/config_imv/plan.yaml
- hmi/draw/draw_perception.cppdata/obstacle/perception_obstacle.cppdata/obstacle/perception_obstacle.hppca4985937f3eda88a3813000f1dc4ce9e56ab0311785408749000http://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 18:52:29 +0800ca4985937f3eda88a3813000f1dc4ce9e56ab031feat: 显示障碍物朝向与速度方向edithmi/draw/draw_perception.cppeditdata/obstacle/perception_obstacle.cppeditdata/obstacle/perception_obstacle.hpp
- data/constrain/temporary_stop_data.cppdata/constrain/block_data.cppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppdata/constrain/block_data.hpp29b6b238475dd1893941953a4293910c95006f401785417832000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 禁止跳过动态场桥临停约束
在 Range 中增加可跳过属性，并将属性传递到临停约束。\n\n区分动态场桥与静态场桥、未聚类障碍物，动态场桥始终保持停车且拒绝 SS 跳过请求，同时记录告警日志。\n\n修正出堆场场桥障碍物索引读取错误。
2026-07-30 21:23:52 +080029b6b238475dd1893941953a4293910c95006f40fix: 禁止跳过动态场桥临停约束editdata/constrain/disable_stop_range.hppeditdata/constrain/disable_stop_range.cppeditdata/constrain/temporary_stop_data.cppeditdata/constrain/block_data.cppeditdata/constrain/block_data.hpp
- data/ssep/forward_ec.cppad80465330e84bdcb0d01569eb179354d4cb00d11785420614000http://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。
2026-07-30 22:10:14 +0800ad80465330e84bdcb0d01569eb179354d4cb00d1feat: 支持真石 IMV 按途经点多段停车editdata/ssep/forward_ec.cpp
git- src/RMInterpreter/rm_message_convert.hsrc/RMInterpreter/ros_mqtt_bridge.cppf6406056d031a786c9357f25d9a460f01e03d34a1784699620000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:全量包上传topic
2026-07-22 13:53:40 +0800f6406056d031a786c9357f25d9a460f01e03d34afeat_out:全量包上传topiceditsrc/RMInterpreter/ros_mqtt_bridge.cppeditsrc/RMInterpreter/rm_message_convert.h
- src/RMInterpreter/mqtt/mqtt_processer.hsrc/RMInterpreter/mqtt/mqtt_processer.cppsrc/tool/manual_tmp.hsrc/tool/manual_tmp.cppsrc/RMInterpreter/rm_message_convert.hsrc/RMInterpreter/mqtt/mqtt_client.cppsrc/RMInterpreter/mqtt/mqtt_client.he5b5d6cef451ddcb68b38a27e3215c7906d701561785241346000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:崩溃防护
2026-07-28 20:22:26 +0800e5b5d6cef451ddcb68b38a27e3215c7906d70156feat_out:崩溃防护editsrc/RMInterpreter/mqtt/mqtt_client.heditsrc/RMInterpreter/mqtt/mqtt_processer.heditsrc/RMInterpreter/rm_message_convert.heditsrc/RMInterpreter/mqtt/mqtt_client.cppeditsrc/tool/manual_tmp.heditsrc/RMInterpreter/mqtt/mqtt_processer.cppeditsrc/tool/manual_tmp.cpp
- src/RMInterpreter/mqtt/mqtt_client.cppsrc/RMInterpreter/mqtt/mqtt_client.hfc545d5ceed879869f4fa63465becc1cc956488e1785405824000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofix_bug:修复崩溃问题
2026-07-30 18:03:44 +0800fc545d5ceed879869f4fa63465becc1cc956488efix_bug:修复崩溃问题editsrc/RMInterpreter/mqtt/mqtt_client.cppeditsrc/RMInterpreter/mqtt/mqtt_client.h
git- server/manager/adapter_manager.ccserver/adapter/mqtt_adapter.ccrouting/common/routing_elements.h82b240cd296c9badbca4fe93943843ccb17ceaae1784605210000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 匹配宝世顺的需求
2026-07-21 11:40:10 +080082b240cd296c9badbca4fe93943843ccb17ceaaefeat_out: 匹配宝世顺的需求editserver/adapter/mqtt_adapter.cceditserver/manager/adapter_manager.cceditrouting/common/routing_elements.h
- server/adapter/mqtt_adapter.ccserver/common/common.hserver/adapter/mqtt_adapter.hserver/common/param_parser.hserver/common/param_parser.ccb6763340f60aab8e5f7af78da30d641a7a9148d61785139374000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 增加集群能力
2026-07-27 16:02:54 +0800b6763340f60aab8e5f7af78da30d641a7a9148d6feat_out: 增加集群能力editserver/adapter/mqtt_adapter.cceditserver/common/common.heditserver/common/param_parser.heditserver/adapter/mqtt_adapter.heditserver/common/param_parser.cc
- server/adapter/mqtt_adapter.cc00f60df4f9989a6089a252426e9cfb2fa7a952aa1785142114000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 去掉metrics消息log日志
2026-07-27 16:48:34 +080000f60df4f9989a6089a252426e9cfb2fa7a952aafeat_out: 去掉metrics消息log日志editserver/adapter/mqtt_adapter.cc
- server/adapter/mqtt_adapter.cc9d3ca209ac3de3ad2401c36ebad74b2df179923d1785142516000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 去掉metrics消息log日志
2026-07-27 16:55:16 +08009d3ca209ac3de3ad2401c36ebad74b2df179923dfeat_out: 去掉metrics消息log日志editserver/adapter/mqtt_adapter.cc
- server/adapter/mqtt_adapter.cc1d0c4f72ac1ccf76880b7c932209a897489ad9c91785143248000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 去掉metrics log日志
2026-07-27 17:07:28 +08001d0c4f72ac1ccf76880b7c932209a897489ad9c9feat_out: 去掉metrics log日志editserver/adapter/mqtt_adapter.cc
- interface/hdmap_internal.cc3edf2ad9e6f8b736218d53f6c796d1eaa6fccd9e1785296804000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofix_out: debug信息验证一下
2026-07-29 11:46:44 +08003edf2ad9e6f8b736218d53f6c796d1eaa6fccd9efix_out: debug信息验证一下editinterface/hdmap_internal.cc
- server/manager/adapter_manager.ccinterface/hdmap_internal.cce7efb840d7c3e24a86a04cc2425c590ec26898081785304182000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofix_out: debug信息
2026-07-29 13:49:42 +0800e7efb840d7c3e24a86a04cc2425c590ec2689808fix_out: debug信息editinterface/hdmap_internal.cceditserver/manager/adapter_manager.cc
- server/manager/adapter_manager.ccserver/manager/adapter_manager.h0599c6f6d0eac4d8aba2899a11020710fe3600fa1785307356000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 并发问题
2026-07-29 14:42:36 +08000599c6f6d0eac4d8aba2899a11020710fe3600fafeat_out: 并发问题editserver/manager/adapter_manager.cceditserver/manager/adapter_manager.h
githttp://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/chenranchenranchenranhttp://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxuehttp://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtaohttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqingStarted by user wuyanjunwuyanjunwuyanjunReplayed 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2026-07-16 08:19:25 +0000818b370658ab17902e69440a0aa56a3fc16a347bUpdate vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovy
- src/org/devops/vehicleInfo.groovyc080fe8edba0fbb4f6eb8e5b371b7d5580b1ebfc1784704100000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate vehicleInfo.groovy
2026-07-22 07:08:20 +0000c080fe8edba0fbb4f6eb8e5b371b7d5580b1ebfcUpdate vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovy
- src/org/devops/vehicleInfo.groovy24a235680ebcc4f9f52aaccedb22286675aa0e0b1784717891000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate vehicleInfo.groovy
2026-07-22 10:58:11 +000024a235680ebcc4f9f52aaccedb22286675aa0e0bUpdate vehicleInfo.groovyeditsrc/org/devops/vehicleInfo.groovy
git- params/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-submodule
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2026-07-16 08:25:50 +00009c9eaf3d2592c7dba583a721cb38cb095942288cUpdate shanghai-luojing-submoduleaddparams/shanghai-luojing-submodule.jenkinsfiledeleteparams/shanghai-luojing-submodule
- hdmap/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.jenkinsfile
- params/hainan-yangpu-submodule.jenkinsfile30fd759f7753157ecbe188133068bc39bbb546541784704279000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile
2026-07-22 07:11:19 +000030fd759f7753157ecbe188133068bc39bbb54654Update hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfile
- params/hainan-yangpu-submodule.jenkinsfile127fff9b6a95da9cc753e8b052c645fbb201cb7f1784717926000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hainan-yangpu-submodule.jenkinsfile
2026-07-22 10:58:46 +0000127fff9b6a95da9cc753e8b052c645fbb201cb7fUpdate hainan-yangpu-submodule.jenkinsfileeditparams/hainan-yangpu-submodule.jenkinsfile
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