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赋值错误edittasks/plan/keb_path_optimize_task.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h270076048affadcc2efda531703271bf59bdf9341774342395000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 解决西联IMV进停车位搜索过慢的问题 2026-03-24 16:53:15 +0800270076048affadcc2efda531703271bf59bdf934fix: 解决西联IMV进停车位搜索过慢的问题editssep/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/maps/ogm_builder.hssep/maps/ogm_builder.ccssep/ssep_planner.cc4c5d87ca4d81f80b640ece8b32e0037bd9d2907a1774352175000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 集卡搜索时滤除起点和终点车挂内部的og点 2026-03-24 19:36:15 +08004c5d87ca4d81f80b640ece8b32e0037bd9d2907afix: 集卡搜索时滤除起点和终点车挂内部的og点editssep/maps/ogm_builder.heditssep/maps/ogm_builder.cceditssep/ssep_planner.ccssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cca55b1d4a04856902abcc98cb26e679a7322b40311774419945000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 自卸车进出散货堆场搜索使用软约束 2026-03-25 14:25:45 +0800a55b1d4a04856902abcc98cb26e679a7322b4031chore: SSEP: 自卸车进出散货堆场搜索使用软约束editssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.ccssep/scenarios/tractor_trailer_enter_yard_planner.h7d345fe068388c5cfcafa2b5146f647344bd42391774428029000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 2026-03-25 16:40:29 +08007d345fe068388c5cfcafa2b5146f647344bd4239fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题editssep/scenarios/tractor_trailer_enter_yard_planner.hssep/common/utils/path_utils.cccf69665bcc958500349e2fa758f961203e97ac621774434684000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 2026-03-25 18:31:24 +0800cf69665bcc958500349e2fa758f961203e97ac62fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.cctasks/plan/keb_lane_follow_path_task.cppdata/config/cfg_stage.cppssep/ssep_planner.cctasks/task_factory.cpptasks/plan/keb_lane_follow_path_task.hppdata/config/cfg_stage.hpp219b35a8cff152c0d01f914ba16d1ee88c9c26dc1774506390000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Add Keb-Lane-Follow Task 2026-03-26 14:26:30 +0800219b35a8cff152c0d01f914ba16d1ee88c9c26dcfeat: Add Keb-Lane-Follow Taskeditdata/config/cfg_stage.cppedittasks/task_factory.cppeditdata/config/cfg_stage.hppaddtasks/plan/keb_lane_follow_path_task.hppeditssep/ssep_planner.ccaddtasks/plan/keb_lane_follow_path_task.cppssep/common/utils/path_utils.ccssep/scenarios/imv_enter_station_planner.hfb9f4cef0ec26de180bbc86b8707a4d98ffa9aaf1774506596000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 西联进充电桩压线问题修复 2026-03-26 14:29:56 +0800fb9f4cef0ec26de180bbc86b8707a4d98ffa9aaffix: SSEP: 西联进充电桩压线问题修复editssep/scenarios/imv_enter_station_planner.heditssep/common/utils/path_utils.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_general_planner.h6f21bc5a6c0ac05e0ab717fe7bad09c38ee1a2f01774508233000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 普通卡车搜索增加“final_straight_distance”参数配置项 2026-03-26 14:57:13 +08006f21bc5a6c0ac05e0ab717fe7bad09c38ee1a2f0feat: SSEP: 普通卡车搜索增加“final_straight_distance”参数配置项editssep/scenarios/scenario_planner_factory.heditssep/scenarios/truck_general_planner.hssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.hb53f0a1cd6255d70b5f57042afbb4c5b5e5a1cd51774515792000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 2026-03-26 17:03:12 +0800b53f0a1cd6255d70b5f57042afbb4c5b5e5a1cd5feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_exit_parking_spot_planner.h0ac0111c82d8bb79499fdd3ea8f5ae49ea41a38d1774527570000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题 2026-03-26 20:19:30 +08000ac0111c82d8bb79499fdd3ea8f5ae49ea41a38dfix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.h98ceb2ee4254cb399a4a3bb1901cc13987cfbbc81774579451000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题 2026-03-27 10:44:11 +080098ceb2ee4254cb399a4a3bb1901cc13987cfbbc8fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题editssep/scenarios/truck_multi_segment_parking_planner.hssep/ssep_planner.cccd4d9dd354b21917814376879733624be88f3dbd1774590403000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 精确倒车时不使用历史路径 2026-03-27 13:46:43 +0800cd4d9dd354b21917814376879733624be88f3dbdfix: SSEP: 精确倒车时不使用历史路径editssep/ssep_planner.ccssep/scenarios/truck_general_planner.hf2e8e1e7d82d9f4cfa9d95d99fac30edcd26d9611774591964000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复普通卡车搜索拉直段失效的问题 2026-03-27 14:12:44 +0800f2e8e1e7d82d9f4cfa9d95d99fac30edcd26d961fix: SSEP: 修复普通卡车搜索拉直段失效的问题editssep/scenarios/truck_general_planner.hssep/offboard/servers/path_repository_vis_server.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/protos/path_repository.proto882808fccb8e2b57410240ce996fd01f871924aa1774602300000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化） 2026-03-27 17:05:00 +0800882808fccb8e2b57410240ce996fd01f871924aafeat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化）addssep/offboard/generate_path_repository/generate_path_repository_cli.ccaddssep/offboard/servers/path_repository_vis_server.ccaddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/offboard/servers/path_repository_vis_html_template.heditssep/offboard/servers/CMakeLists.txteditssep/CMakeLists.txtaddssep/protos/state_match_condition.protoaddssep/offboard/generate_path_repository/CMakeLists.txtaddssep/protos/path_repository.protossep/data_structures/state_match_condition.hssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/state_match_condition.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/data_structures/path_repository_manager.ccssep/ssep_planner.hssep/protos/path_repository.protoc40f17e705fcd22d588f509e223b97afd6f947011774616563000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 接入离线轨迹库 2026-03-27 21:02:43 +0800c40f17e705fcd22d588f509e223b97afd6f94701feat: SSEP: 接入离线轨迹库addssep/data_structures/path_repository_manager.ccaddssep/data_structures/state_match_condition.heditssep/ssep_planner.heditssep/protos/path_repository.protoeditssep/offboard/generate_path_repository/generate_path_repository_cli.ccaddssep/data_structures/path_repository_manager.haddssep/data_structures/state_match_condition.cceditssep/ssep_planner.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h73643888aac8b5f7b0a28de66d6b9dae5c35014e1774926345000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复苏溪集卡进停车位可能停歪的问题 2026-03-31 11:05:45 +080073643888aac8b5f7b0a28de66d6b9dae5c35014efix: SSEP: 修复苏溪集卡进停车位可能停歪的问题editssep/scenarios/tractor_trailer_enter_parking_spot_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccd75a79ff291255b2073946e678d0ef4e69c69c4a1774955575000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度 2026-03-31 19:12:55 +0800d75a79ff291255b2073946e678d0ef4e69c69c4afix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度editssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protodata/config/cfg_ssep.cppssep/common/utils/map_element_utils.hppssep/offboard/ssep_planner_wrapper.ccssep/offboard/scene_replay/CMakeLists.txtdata/config/cfg_ssep.hppssep/protos/scene.protossep/data_structures/path_repository_manager.ccssep/protos/path_repository.protossep/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hdata/ssep/ssep_activation.cpp71318654777a1d34b5e432c05012dcba1defbcf91774964768000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程 2026-03-31 21:46:08 +080071318654777a1d34b5e432c05012dcba1defbcf9feat: SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程editssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/CMakeLists.txteditdata/config/cfg_ssep.hppeditssep/offboard/servers/path_repository_vis_html_template.ccaddssep/protos/operation_mode.protoeditssep/offboard/scene_replay/CMakeLists.txteditdata/ssep/ssep_activation.cppeditssep/ssep_planner.cceditssep/data_structures/path_repository_manager.heditdata/config/cfg_ssep.cppeditssep/common/utils/map_element_utils.hppeditssep/protos/scene.protoeditssep/offboard/servers/path_repository_vis_server.cceditssep/protos/path_repository.protoeditssep/data_structures/path_repository_manager.cceditssep/offboard/ssep_planner_wrapper.ccssep/scenarios/truck_accurate_reversing_planner.cc2c034f89e04c6b63b9a9b3325f0114aa3d23c67c1775013959000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限 2026-04-01 11:25:59 +08002c034f89e04c6b63b9a9b3325f0114aa3d23c67cchore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限editssep/scenarios/truck_accurate_reversing_planner.ccalgorithm/plan/keb_optimizer.cpptasks/plan/keb_path_optimize_task.hppdata/common/path.hppalgorithm/plan/keb_optimizer.hppssep/data_structures/path_utils.htasks/plan/keb_path_optimize_task.cpp419575f0bc72c58284e15eeb174aeac24f3654e11775135900000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autoRefactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。 2026-04-02 21:18:20 +0800419575f0bc72c58284e15eeb174aeac24f3654e1Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。addalgorithm/plan/keb_optimizer.cppeditdata/common/path.hppedittasks/plan/keb_path_optimize_task.hppaddalgorithm/plan/keb_optimizer.hppeditssep/data_structures/path_utils.hedittasks/plan/keb_path_optimize_task.cppreplayer/main.cppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cpphmi/replayer_hmi.hppreplayer/logic.hppCMakeLists.txthmi/replayer_hmi.cppreplayer/logic.cppssep/maps/ogm_builder.ccssep/protos/ogm.protoalgorithm/plan/keb_optimizer.cppdata/common/path.cppproto/data_path.protodata/common/path.hppproto/keb_scene.protossep/maps/ogm.hreplayer/replayer_data_process/replayer_data_extraction.cppssep/maps/ogm.ccssep/CMakeLists.txttasks/plan/keb_utils.cppdata/common/path_point.hppreplayer/replayer_data_process/replayer_data_extraction.hppproto/CMakeLists.txttasks/plan/keb_utils.hppdata/common/path_point.cpptasks/plan/keb_path_optimize_task.hppf0150e3d3ab34ee7357c0d80af6d509b2deb1cd41775216844000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。 2026-04-03 19:47:24 +0800f0150e3d3ab34ee7357c0d80af6d509b2deb1cd4feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。editssep/maps/ogm.cceditssep/CMakeLists.txtedithmi/replayer_hmi.cppeditreplayer/logic.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppaddproto/keb_scene.protoaddtasks/plan/keb_utils.hppaddproto/data_path.protoaddssep/protos/ogm.protoeditdata/common/path.cppaddtasks/plan/keb_utils.cppeditalgorithm/plan/keb_optimizer.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_path_optimize_task.hppeditdata/common/path_point.cppeditreplayer/main.cppeditdata/common/path_point.hppeditreplayer/logic.hppedithmi/replayer_hmi.hppeditdata/common/path.hppeditCMakeLists.txteditreplayer/replayer_data_process/replayer_data_extraction.hppaddproto/CMakeLists.txteditssep/maps/ogm_builder.cceditssep/maps/ogm.hedittasks/plan/keb_path_optimize_task.cppssep/protos/ogm.protoreplayer/replayer_data_process/replayer_data_process.cppoffboard/keb_vis_server/keb_vis_server.ccoffboard/keb_vis_server/CMakeLists.txttasks/plan/keb_path_optimize_task.cppoffboard/keb_vis_server/keb_vis_html_template.hssep/maps/ogm.halgorithm/plan/keb_optimizer.cppreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/start_point_data.hppssep/maps/ogm.ccoffboard/keb_vis_server/keb_vis_html_template.ccf8e0a36c66f5040d93ab15f3eea8eedecc5d9f921775561639000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: keb-task: 完整跑通keb-scene extranction及可视化全流程 2026-04-07 19:33:59 +0800f8e0a36c66f5040d93ab15f3eea8eedecc5d9f92chore: keb-task: 完整跑通keb-scene extranction及可视化全流程edittasks/plan/keb_path_optimize_task.cppaddoffboard/keb_vis_server/keb_vis_html_template.heditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/maps/ogm.cceditssep/maps/ogm.heditssep/protos/ogm.protoaddoffboard/keb_vis_server/keb_vis_html_template.cceditalgorithm/plan/keb_optimizer.cppeditdata/plan/start_point_data.hppaddoffboard/keb_vis_server/keb_vis_server.ccaddoffboard/keb_vis_server/CMakeLists.txteditreplayer/replayer_data_process/replayer_data_process.cppdata/ssep/field_junction_ec.hppproto/keb_scene.prototasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cpptasks/plan/keb_path_optimize_task.cppreplayer/replayer_data_process/replayer_data_extraction.cppCMakeLists.txtoffboard/keb_vis_server/keb_vis_html_template.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/cost_features/dynamic_constraint.hdata/config/cfg_lat_plan.hpptasks/plan/keb_utils.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hoffboard/keb_path_opt_cli/keb_path_opt_cli.ccdata/ssep/ssep_ec.hppssep/keb_optimizer/keb_problem.h52abfb30b6c58693392fbab9c7aa288e231a39011775633118000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。 2026-04-08 15:25:18 +080052abfb30b6c58693392fbab9c7aa288e231a3901feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。editdata/config/cfg_lat_plan.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditdata/ssep/field_junction_ec.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_utils.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditdata/ssep/ssep_ec.hppeditproto/keb_scene.protoedittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_path_optimize_task.cppeditCMakeLists.txteditreplayer/replayer_data_process/replayer_data_process.cppeditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/keb_optimizer/keb_problem.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ha8a77d0c941af4a95bc3670a81a607e4ab3ed0931775638852000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 修复imv普通搜索参考线错误的问题 2026-04-08 17:00:52 +0800a8a77d0c941af4a95bc3670a81a607e4ab3ed093fix: 修复imv普通搜索参考线错误的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.hssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc8ccf5f548cd0e4131c1b82954c2adecdac06c3e21775711613000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 13:13:33 +08008ccf5f548cd0e4131c1b82954c2adecdac06c3e2fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_bulk_yark_in_out_planner.ccproto/keb_scene.protossep/protos/params.protossep/maps/ogm.halgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppreplayer/replayer_data_process/replayer_data_extraction.cppssep/param_loader/param.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hoffboard/keb_vis_server/keb_vis_html_template.ccssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils.cppoffboard/keb_vis_server/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccssep/keb_optimizer/keb_problem.hssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.hssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.hcb4d9f128e3c5f9691bbeb42c422b23711f7aa611775727344000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化 2026-04-09 17:35:44 +0800cb4d9f128e3c5f9691bbeb42c422b23711f7aa61feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化editoffboard/keb_vis_server/keb_vis_html_template.cceditssep/keb_optimizer/keb_problem.cceditoffboard/keb_vis_server/CMakeLists.txtaddssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.heditproto/keb_scene.protoeditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/keb_problem.hedittasks/plan/keb_utils.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/maps/ogm.heditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.haddssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/protos/params.protoeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_utils.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditssep/param_loader/param.hssep/scenarios/stitching_replanner.hssep/ssep_planner.cc78cecf1ba9ad4a0ecc14fb30756722d7d294ec611775730736000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 2026-04-09 18:32:16 +080078cecf1ba9ad4a0ecc14fb30756722d7d294ec61chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑editssep/scenarios/stitching_replanner.heditssep/ssep_planner.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.ccc3744d5c2226e5ec04a54249deca78e4abaa48d91775733262000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 2026-04-09 19:14:22 +0800c3744d5c2226e5ec04a54249deca78e4abaa48d9chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc9fd0e87b9539412176f5438b4cf8fa2c4353941a1775799435000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 解决集卡多段倒车可能绕圈的问题 2026-04-10 13:37:15 +08009fd0e87b9539412176f5438b4cf8fa2c4353941achore: SSEP: 解决集卡多段倒车可能绕圈的问题editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/ssep_planner.cc7f9930f514e94f399ae91826d94469b8c4543ac71776061313000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题 2026-04-13 14:21:53 +08007f9930f514e94f399ae91826d94469b8c4543ac7fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.cctasks/plan/keb_lane_follow_path_task.cppssep/protos/params.prototasks/plan/keb_path_optimize_task.cppreplayer/replayer_data_process/replayer_data_extraction.cppssep/param_loader/param.hCMakeLists.txtoffboard/keb_vis_server/keb_vis_html_template.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.htasks/plan/keb_utils.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.hssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h37980ff352590504416c64de985244f7000d8da51776065652000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: keb实时优化 - 双层车体碰撞模型通过离线测试 2026-04-13 15:34:12 +080037980ff352590504416c64de985244f7000d8da5feat: keb实时优化 - 双层车体碰撞模型通过离线测试editssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hedittasks/plan/keb_lane_follow_path_task.cppeditCMakeLists.txtedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdeletessep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.heditssep/keb_optimizer/keb_problem.cceditssep/protos/params.protoedittasks/plan/keb_utils.cppdeletessep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/param_loader/param.heditssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/closed_loop_utils.ccoffboard/keb_path_opt_cli/keb_scene_converter.hppoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/keb_path_opt_cli/keb_simulator.hppoffboard/keb_path_opt_cli/closed_loop_utils.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.ccCMakeLists.txt8d0a9328235149cea3ae87be7d21efde5c8a236a1776076734000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真 2026-04-13 18:38:54 +08008d0a9328235149cea3ae87be7d21efde5c8a236afeat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真addoffboard/keb_path_opt_cli/closed_loop_utils.cceditCMakeLists.txtaddoffboard/keb_path_opt_cli/keb_scene_converter.hppaddoffboard/keb_path_opt_cli/keb_scene_converter.ccaddoffboard/keb_path_opt_cli/keb_simulator.hppaddoffboard/keb_path_opt_cli/closed_loop_utils.hppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccaddoffboard/keb_path_opt_cli/keb_simulator.ccssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.heabb10afdc35e185d27771aac7ba24bd618897641776135546000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题 2026-04-14 10:59:06 +0800eabb10afdc35e185d27771aac7ba24bd61889764fix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/stitching_replanner.hoffboard/keb_vis_server/keb_vis_html_template.cc8667ab96d09a1370c69066ea1ffe91c989e814f51776149732000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Simulation: 3D可视化 2026-04-14 14:55:32 +08008667ab96d09a1370c69066ea1ffe91c989e814f5feat: Keb-Simulation: 3D可视化editoffboard/keb_vis_server/keb_vis_html_template.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccd71f84f7a302a3f5eceb0fcf5b867f77b33e64351776152615000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-14 15:43:35 +0800d71f84f7a302a3f5eceb0fcf5b867f77b33e6435fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/param_loader/param.hssep/data_structures/path_repository_manager.ccssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.ccssep/protos/ogm.protossep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/data_structures/path_utils.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/protos/params.protossep/common/utils/map_element_utils.hppssep/maps/ogm.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/scene_replay/CMakeLists.txtssep/maps/ogm.ccssep/protos/scene.protossep/protos/path_repository.protossep/keb_optimizer/cost_features/dynamic_constraint.hssep/CMakeLists.txtssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/offboard/servers/path_repository_vis_html_template.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/stitching_replanner.hssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/keb_optimizer/keb_problem.hssep/scenarios/truck_accurate_reversing_planner.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h711ae84b63603a37fd75db06de659795e77678fa1776155672000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep 2026-04-14 16:34:32 +0800711ae84b63603a37fd75db06de659795e77678fafeat:合并ssepeditssep/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/maps/ogm.cceditssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/path_repository_vis_html_template.cceditssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccaddssep/protos/ogm.protoeditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.heditssep/maps/ogm_builder.cceditssep/offboard/ssep_planner_wrapper.cceditssep/protos/path_repository.protoeditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/maps/ogm.heditssep/data_structures/path_repository_manager.heditssep/keb_optimizer/keb_problem.ccaddssep/protos/operation_mode.protoeditssep/protos/params.protoeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/keb_optimizer/keb_problem.heditssep/scenarios/stitching_replanner.heditssep/common/utils/map_element_utils.hppeditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/ssep_planner.cceditssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/data_structures/path_utils.heditssep/param_loader/param.heditssep/protos/scene.protoeditssep/data_structures/path_repository_manager.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc4b4d21aeba2a5465e2532f017b9f5725d703037a1776159355000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 2026-04-14 17:35:55 +08004b4d21aeba2a5465e2532f017b9f5725d703037afix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/offboard/path_drawing_tool/hermite_path_generator.hssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/offboard/path_drawing_tool/CMakeLists.txt28c58b5889385d77f87b0a147fa930b0cf793cc91776232181000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP-offboard: 添加离线路径绘制工具 2026-04-15 13:49:41 +080028c58b5889385d77f87b0a147fa930b0cf793cc9feat: SSEP-offboard: 添加离线路径绘制工具addssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.haddssep/offboard/path_drawing_tool/path_drawing_html_template.haddssep/offboard/path_drawing_tool/path_drawing_html_template.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/offboard/path_drawing_tool/path_drawing_html_template.cc333b3ebc6cdbb5cbdcbebecd0b9959bb8cf630451776234296000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能 2026-04-15 14:24:56 +0800333b3ebc6cdbb5cbdcbebecd0b9959bb8cf63045feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能editssep/offboard/path_drawing_tool/path_drawing_tool_main.cceditssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/common/utils/scene_frame_visualization.ccssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/straddle_carrier_pick_vehicle_planner.h19d43f16047fee154f24f14a80002e88dcf82d7f1776241721000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 增加跨运车抓车场景 2026-04-15 16:28:41 +080019d43f16047fee154f24f14a80002e88dcf82d7ffeat: SSEP: 增加跨运车抓车场景editssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/data_structures/ssep_scenario_type.hppeditssep/scenarios/scenario_planner_factory.heditssep/protos/ssep_scenario_type.protoeditssep/common/utils/scene_frame_visualization.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccaddssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/offboard/path_drawing_tool/hermite_path_generator.hssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/offboard/path_drawing_tool/hermite_path_generator.cc30e6bf3d7c6cfe92ad1634c56514020972a93f0d1776254006000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP-offboard: 修复bug，增加车体box可视化 2026-04-15 19:53:26 +080030e6bf3d7c6cfe92ad1634c56514020972a93f0dchore: SSEP-offboard: 修复bug，增加车体box可视化editssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/offboard/path_drawing_tool/path_drawing_tool_main.cceditssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/offboard/path_drawing_tool/hermite_path_generator.hproto/keb_scene.protooffboard/keb_path_opt_cli/closed_loop_utils.cctasks/plan/keb_utils.cpptasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppalgorithm/plan/keb_optimizer.cppreplayer/replayer_data_process/replayer_data_extraction.cpptasks/plan/keb_path_optimize_task.hppoffboard/keb_path_opt_cli/keb_simulator.ccoffboard/keb_vis_server/keb_vis_html_template.cce506b961c19a089454f59fe4fe26dcda7e6910d81776324432000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 2026-04-16 15:27:12 +0800e506b961c19a089454f59fe4fe26dcda7e6910d8feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程edittasks/plan/keb_path_optimize_task.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_utils.hppeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditalgorithm/plan/keb_optimizer.hppeditoffboard/keb_vis_server/keb_vis_html_template.ccedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppproto/keb_scene.protooffboard/keb_path_opt_cli/closed_loop_utils.cctasks/plan/keb_utils.cpptasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppalgorithm/plan/keb_optimizer.cppreplayer/replayer_data_process/replayer_data_extraction.cpptasks/plan/keb_path_optimize_task.hppoffboard/keb_path_opt_cli/keb_simulator.ccoffboard/keb_vis_server/keb_vis_html_template.cc532974338bfb34db8cb80624fa8e6a81ccef32e91776327208000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 2026-04-16 16:13:28 +0800532974338bfb34db8cb80624fa8e6a81ccef32e9feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.hppeditoffboard/keb_vis_server/keb_vis_html_template.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditalgorithm/plan/keb_optimizer.hppeditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_path_optimize_task.hppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditproto/keb_scene.protoedittasks/plan/keb_utils.cppssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/planner_utils.ccssep/data_structures/pose.h6bc50a6714be053d17ee070e2fe82c5b858df7081776338503000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线 2026-04-16 19:21:43 +08006bc50a6714be053d17ee070e2fe82c5b858df708feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线editssep/scenarios/planner_utils.heditssep/data_structures/pose.heditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/scenario_planner_factory.htasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/closed_loop_utils.ccoffboard/keb_path_opt_cli/closed_loop_utils.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cppreplayer/replayer_data_process/replayer_data_extraction.cppoffboard/keb_path_opt_cli/keb_simulator.cctasks/plan/keb_lane_follow_path_task.hppoffboard/keb_vis_server/keb_vis_html_template.cc6d0b3d30c4d7c182792259dc8efb60945ebce0d61776400932000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-task: 重构并适配keb_lane_follow task 2026-04-17 12:42:12 +08006d0b3d30c4d7c182792259dc8efb60945ebce0d6chore: Keb-task: 重构并适配keb_lane_follow taskeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.hppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditproto/keb_scene.protoeditalgorithm/plan/keb_optimizer.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditoffboard/keb_vis_server/keb_vis_html_template.cc.gitignore30f38647c7749669d247e8f727e07ba6169177981776405103000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: update gitignore 2026-04-17 13:51:43 +080030f38647c7749669d247e8f727e07ba616917798chore: update gitignoreedit.gitignorehmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/throttle_chart.hpphmi/widget/velocity_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/common/chart.cpphmi/widget/diagnose.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp61bd292727204c41639f5511192a8efb5a4dfa4c1776414663000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时 2026-04-17 16:31:03 +080061bd292727204c41639f5511192a8efb5a4dfa4crefactor:优化界面耗时edithmi/widget/diagnose.hppedithmi/widget/perf_cost_detail.cppedithmi/widget/steer_chart.hppedithmi/widget/velocity_chart.cppedithmi/widget/command.cppedithmi/widget/brake_chart.hppedithmi/common/chart.cppedithmi/widget/throttle_chart.hppedithmi/widget/throttle_chart.cppedithmi/common/chart.hppedithmi/widget/steer_chart.cppedithmi/widget/velocity_chart.hppedithmi/widget/diagnose.cppedithmi/widget/command.hppedithmi/widget/perf_cost_detail.hppedithmi/widget/brake_chart.cppdata/constrain/longitude_constrain.hppdata/constrain/longitude_constrain.cpp791937e15aff1522260893b084824b63772b081e1776423136000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整9861的跟车距离 2026-04-17 18:52:16 +0800791937e15aff1522260893b084824b63772b081efeat:调整9861的跟车距离editdata/constrain/longitude_constrain.cppeditdata/constrain/longitude_constrain.hppssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc63cda91be69689b2039cb7aa69790f39ac64b9eb1776666837000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题 2026-04-20 14:33:57 +080063cda91be69689b2039cb7aa69790f39ac64b9ebfix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/hermite_path_generator.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/offboard/path_drawing_tool/CMakeLists.txt35da80b42556c3c13bd67f001e9ddf94e32333711776668416000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。 2026-04-20 15:00:16 +080035da80b42556c3c13bd67f001e9ddf94e3233371chore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。editssep/offboard/path_drawing_tool/hermite_path_generator.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.cceditssep/offboard/path_drawing_tool/path_drawing_tool_main.cceditssep/offboard/path_drawing_tool/hermite_path_generator.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/offboard/path_drawing_tool/CMakeLists.txteditssep/offboard/path_drawing_tool/path_drawing_html_template.ccdata/boundary/road_boundary.cpp4f2a845f81ce16009d0953d7cd45cdfa027851541776678516000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整不可偏移区域生成的起始和结束位置计算 2026-04-20 17:48:36 +08004f2a845f81ce16009d0953d7cd45cdfa02785154fix:调整不可偏移区域生成的起始和结束位置计算editdata/boundary/road_boundary.cppsource/ros_source_forbidden_road_og.cpp656cd3b9c04bf95305ef002f48505622048bda1d1776678696000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化高度禁停点云的使用的逻辑 2026-04-20 17:51:36 +0800656cd3b9c04bf95305ef002f48505622048bda1drefactor:优化高度禁停点云的使用的逻辑editsource/ros_source_forbidden_road_og.cppplan/prepare/prepare_ogm.cpped6f9befc81f6aa9e2b30c1bed32c20ad23cc6051776751938000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:移除后向OGM忽略距离的冗余计算 2026-04-21 14:12:18 +0800ed6f9befc81f6aa9e2b30c1bed32c20ad23cc605fix:移除后向OGM忽略距离的冗余计算editplan/prepare/prepare_ogm.cppdata/map/pnc_map/routing_extension/routing_data.cpp2485ed4412c0a64a72bf8691c22f067c1da396e61776825503000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复垂直下码头面，box框生成的bug 2026-04-22 10:38:23 +08002485ed4412c0a64a72bf8691c22f067c1da396e6fix:修复垂直下码头面，box框生成的bugeditdata/map/pnc_map/routing_extension/routing_data.cppdata/constrain/block_data.cppdata/constrain/disable_stop_range.cpp0535e013c34f55e1d20f2fdf92025a54d6f0391c1776842423000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置 2026-04-22 15:20:23 +08000535e013c34f55e1d20f2fdf92025a54d6f0391cfeat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置editdata/constrain/disable_stop_range.cppeditdata/constrain/block_data.cppdata/ssep/into_yard_junction_ec.cpp978c1b3169e28cb1538b2a86699738ad88cff6fc1776847210000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束 2026-04-22 16:40:10 +0800978c1b3169e28cb1538b2a86699738ad88cff6fcfeat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束editdata/ssep/into_yard_junction_ec.cppproto/keb_scene.prototasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hdata/plan/ssep_data.hppssep/keb_optimizer/rigid_truck_keb_optimizer.cctasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hreplayer/replayer_data_process/replayer_data_extraction.cppssep/data_structures/path.hoffboard/keb_vis_server/keb_vis_html_template.ccssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils.cppssep/keb_optimizer/keb_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hppalgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_utils.htasks/plan/keb_path_optimize_task.hppoffboard/keb_path_opt_cli/keb_simulator.cctasks/plan/keb_lane_follow_path_task.hpp0d4fca04b4d74907d809808b3b30bed64c93ab531776861409000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。 2026-04-22 20:36:49 +08000d4fca04b4d74907d809808b3b30bed64c93ab53feat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。editalgorithm/plan/keb_optimizer.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_path_optimize_task.cppeditalgorithm/plan/keb_optimizer.hppeditproto/keb_scene.protoeditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccedittasks/plan/keb_lane_follow_path_task.cppeditdata/plan/ssep_data.hppedittasks/plan/keb_path_optimize_task.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_lane_follow_path_task.hppeditssep/keb_optimizer/keb_utils.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/data_structures/path.heditssep/keb_optimizer/keb_utils.ccedittasks/plan/keb_utils.hppeditssep/keb_optimizer/keb_problem.cceditreplayer/replayer_data_process/replayer_data_process.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccedittasks/plan/keb_utils.cppscripts/run_contour_union_case_test.shdata/ssep/online_region_contour_creator.cppdata/ssep/online_region_contour_creator_test.cppCMakeLists.txtdata/ssep/online_region_contour_creator.hppe227d850087b14ab33edb73b94d5b2059cc9149f1776869040000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com优化轮廓合并算法并添加测试支持 2026-04-22 22:44:00 +0800e227d850087b14ab33edb73b94d5b2059cc9149f优化轮廓合并算法并添加测试支持addscripts/run_contour_union_case_test.sheditdata/ssep/online_region_contour_creator.hppeditCMakeLists.txteditdata/ssep/online_region_contour_creator.cppadddata/ssep/online_region_contour_creator_test.cppssep/ssep_planner.hssep/ssep_planner.cc2da20d45beb0b522882ca22b1dfdec19fc89657f1776914377000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复跨运车原地自转未分段的问题。 2026-04-23 11:19:37 +08002da20d45beb0b522882ca22b1dfdec19fc89657ffix: SSEP: 修复跨运车原地自转未分段的问题。editssep/ssep_planner.heditssep/ssep_planner.ccdata/ssep/region_builder.cpp10463e123097bc52d7217d576b79852a1b7929291776914663000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:进堆场时，关闭区域的校验 2026-04-23 11:24:23 +080010463e123097bc52d7217d576b79852a1b792929feat:进堆场时，关闭区域的校验editdata/ssep/region_builder.cppdata/config/cfg_func_sw.cppdata/map/envelop/map_envelops.cppdata/config/cfg_func_sw.hpp038e3a9a16edd662ac1889b1454eaab64843c79d1776943851000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加合并包络框功能的配置选项 2026-04-23 19:30:51 +0800038e3a9a16edd662ac1889b1454eaab64843c79dfeat: 添加合并包络框功能的配置选项editdata/map/envelop/map_envelops.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppdata/scenario/scenario_planner_bt.cppdata/scenario/scenario_planner_condition.cppdata/ssep/seaside_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cppa749d4457e306896416f3e50bfa67d33f84398851776943934000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:西联码头面搜索引桥搜索普通路口搜索，终点选取，场景触发的bug Co-authored-by: Copilot <copilot@github.com> 2026-04-23 19:32:14 +0800a749d4457e306896416f3e50bfa67d33f8439885fix:西联码头面搜索引桥搜索普通路口搜索，终点选取，场景触发的bugeditdata/ssep/bridge_junction_ec.cppeditdata/scenario/scenario_planner_bt.cppeditdata/scenario/scenario_planner_condition.cppeditdata/ssep/seaside_junction_ec.cppeditdata/ssep/normal_junction_ec.cppdata/ssep/into_yard_junction_ec.cppc82d7c75adc8a4ffe39435a20b495fc6ea78afaf1776945663000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:洋浦，修复B004搜索失败的bug 2026-04-23 20:01:03 +0800c82d7c75adc8a4ffe39435a20b495fc6ea78afaffix:洋浦，修复B004搜索失败的bugeditdata/ssep/into_yard_junction_ec.cppdata/constrain/block_data.cppdata/constrain/temporary_stop_data.cppdata/constrain/disable_stop_range.cppa685fcbefdd9384cdc97b90451f6757e6d35ae501776954064000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化多次禁停的问题 Co-authored-by: Copilot <copilot@github.com> 2026-04-23 22:21:04 +0800a685fcbefdd9384cdc97b90451f6757e6d35ae50refactor:优化多次禁停的问题editdata/constrain/block_data.cppeditdata/constrain/disable_stop_range.cppeditdata/constrain/temporary_stop_data.cppdata/ssep/out_yard_junction_ec.cpp85e0e4776a8c5da790dce4e0b7db1d7ea4c2a0201776957367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 为海南洋浦区域的场桥障碍物增加安全边距 Co-authored-by: Copilot <copilot@github.com> 2026-04-23 23:16:07 +080085e0e4776a8c5da790dce4e0b7db1d7ea4c2a020refactor: 为海南洋浦区域的场桥障碍物增加安全边距editdata/ssep/out_yard_junction_ec.cpptasks/other_tasks/stitch_path_data_to_path.cpp219926ab23efaddf2f7dbc384e0dc63ba6c94df21776957424000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败，不拼接参考线 2026-04-23 23:17:04 +0800219926ab23efaddf2f7dbc384e0dc63ba6c94df2refactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败，不拼接参考线edittasks/other_tasks/stitch_path_data_to_path.cppdata/map/reference/bends_decider/bend_decider.cppa42c2e0092ef295bd319f068f91dc031233e55301776998677000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题 2026-04-24 10:44:37 +0800a42c2e0092ef295bd319f068f91dc031233e5530refactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题editdata/map/reference/bends_decider/bend_decider.cppssep/keb_optimizer/cost_features/imv_steer_constraint.hoffboard/keb_vis_server/crow/http_parser_merged.hoffboard/keb_vis_server/crow/common.hoffboard/keb_vis_server/crow/http_response.halgorithm/plan/keb_optimizer.hppoffboard/keb_vis_server/crow/logging.hssep/param_loader/param.hoffboard/keb_vis_server/crow/socket_adaptors.hCMakeLists.txtoffboard/keb_vis_server/crow/version.hssep/keb_optimizer/keb_problem.ccoffboard/keb_vis_server/crow/json.hoffboard/keb_vis_server/crow/compression.hoffboard/keb_vis_server/crow/http_request.hoffboard/keb_vis_server/crow/websocket.hoffboard/keb_vis_server/crow/parser.hoffboard/keb_vis_server/crow/query_string.hoffboard/keb_vis_server/crow/http_connection.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hdata/config/cfg_ssep.cppoffboard/keb_vis_server/crow.hssep/keb_optimizer/imv_keb_optimizer.hssep/maps/ogm.ccoffboard/keb_vis_server/crow/settings.hoffboard/keb_vis_server/crow/http_server.hoffboard/keb_vis_server/crow/task_timer.hoffboard/keb_vis_server/crow/routing.htasks/plan/keb_utils.cppoffboard/keb_path_opt_cli/keb_scene_converter.hppoffboard/keb_vis_server/crow/multipart_view.hoffboard/keb_vis_server/crow/middleware_context.hoffboard/keb_vis_server/crow/returnable.hoffboard/keb_path_opt_cli/keb_path_opt_cli.ccssep/keb_optimizer/keb_problem.hoffboard/keb_vis_server/crow/middlewares/utf-8.hoffboard/keb_vis_server/crow/multipart.hoffboard/keb_vis_server/crow/TinySHA1.hpptasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/keb_vis_server/crow/utility.hoffboard/keb_vis_server/crow/app.hoffboard/keb_vis_server/crow/middlewares/cors.hoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccoffboard/keb_vis_server/crow/middleware.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccoffboard/keb_vis_server/crow/middlewares/session.hoffboard/keb_vis_server/crow/mime_types.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hoffboard/keb_path_opt_cli/keb_simulator.hppssep/maps/ogm.hoffboard/keb_vis_server/crow/socket_acceptors.hssep/keb_optimizer/imv_keb_optimizer.ccoffboard/keb_vis_server/crow/exceptions.hoffboard/keb_vis_server/crow/middlewares/cookie_parser.hssep/keb_optimizer/keb_utils.cctasks/plan/keb_utils.hppoffboard/keb_vis_server/crow/mustache.hoffboard/keb_vis_server/crow/ci_map.hoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppab3c49bf513e32124fee4f8cc0896f2e6af2fbad1777027969000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息 2026-04-24 18:52:49 +0800ab3c49bf513e32124fee4f8cc0896f2e6af2fbadfix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息addoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hppaddoffboard/keb_vis_server/crow/websocket.haddoffboard/keb_vis_server/crow/exceptions.heditoffboard/keb_path_opt_cli/keb_simulator.ccaddoffboard/keb_vis_server/crow/middlewares/cors.haddoffboard/keb_vis_server/crow/socket_adaptors.haddoffboard/keb_vis_server/crow/http_server.haddoffboard/keb_vis_server/crow/task_timer.heditdata/config/cfg_ssep.cppaddoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditssep/keb_optimizer/keb_problem.heditssep/maps/ogm.ccaddoffboard/keb_vis_server/crow/socket_acceptors.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_lane_follow_path_task.cppaddoffboard/keb_vis_server/crow/version.hedittasks/plan/keb_utils.hppaddoffboard/keb_vis_server/crow/middlewares/utf-8.heditssep/keb_optimizer/cost_features/ref_line_cost.haddoffboard/keb_vis_server/crow/middlewares/cookie_parser.haddoffboard/keb_vis_server/crow/http_response.hedittasks/plan/keb_utils.cppaddoffboard/keb_vis_server/crow/middleware.haddoffboard/keb_vis_server/crow/returnable.haddoffboard/keb_vis_server/crow/parser.haddoffboard/keb_vis_server/crow/middleware_context.haddoffboard/keb_vis_server/crow/json.haddoffboard/keb_vis_server/crow/routing.haddoffboard/keb_vis_server/crow/compression.heditoffboard/keb_path_opt_cli/keb_simulator.hppeditssep/data_structures/path.ccaddoffboard/keb_vis_server/crow.haddoffboard/keb_vis_server/crow/settings.heditalgorithm/plan/keb_optimizer.cppaddoffboard/keb_vis_server/crow/ci_map.haddoffboard/keb_vis_server/crow/logging.haddoffboard/keb_vis_server/crow/mustache.haddssep/keb_optimizer/cost_features/imv_steer_constraint.haddoffboard/keb_vis_server/crow/TinySHA1.hppaddoffboard/keb_vis_server/crow/multipart_view.haddoffboard/keb_vis_server/crow/utility.haddoffboard/keb_vis_server/crow/app.haddoffboard/keb_vis_server/crow/common.haddoffboard/keb_vis_server/crow/http_parser_merged.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/keb_utils.ccaddoffboard/keb_vis_server/crow/query_string.heditoffboard/keb_path_opt_cli/keb_scene_converter.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditssep/maps/ogm.haddoffboard/keb_vis_server/crow/http_request.heditCMakeLists.txtaddoffboard/keb_vis_server/crow/http_connection.heditssep/keb_optimizer/keb_problem.ccaddoffboard/keb_vis_server/crow/multipart.haddoffboard/keb_vis_server/crow/middlewares/session.heditalgorithm/plan/keb_optimizer.hppaddoffboard/keb_vis_server/crow/mime_types.heditssep/param_loader/param.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hf21b829b78b40da6565facea5ad6adb4047f7c2b1777035384000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。 2026-04-24 20:56:24 +0800f21b829b78b40da6565facea5ad6adb4047f7c2bfeat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。editssep/scenarios/scenario_planner_factory.haddssep/scenarios/tractor_trailer_short_distance_planner.htasks/plan/keb_utils_core.cppmath/curve2d/curve2d.hppdata/semantic/collision_position.hppdata/semantic/vehicle.cppCMakeLists.txttasks/plan/keb_utils.cppdata/common/path_point.hppdata/obstacle/occupy_grid.hpptasks/plan/keb_utils_core.hppdata/common/guide_path.cppoffboard/keb_path_opt_cli/CMakeLists.txttasks/plan/keb_utils.hppdata/common/path_point.cppalgorithm/decision/path_turn_type.cppalgorithm/plan/keb_optimizer.cppdata/common/path.cppdata/common/path.hppoffboard/keb_path_opt_cli/keb_simulator.ccd11b0a6d75dfd1ffc35b9d2318a4f3d4696be90c1777211879000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦 2026-04-26 21:57:59 +0800d11b0a6d75dfd1ffc35b9d2318a4f3d4696be90crefactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦editdata/common/guide_path.cppaddtasks/plan/keb_utils_core.cppeditalgorithm/decision/path_turn_type.cppedittasks/plan/keb_utils.cppeditdata/common/path.hppeditdata/obstacle/occupy_grid.hppaddtasks/plan/keb_utils_core.hppeditdata/common/path.cppeditdata/semantic/vehicle.cppeditalgorithm/plan/keb_optimizer.cppeditdata/common/path_point.cppedittasks/plan/keb_utils.hppeditmath/curve2d/curve2d.hppeditoffboard/keb_path_opt_cli/keb_simulator.cceditdata/common/path_point.hppeditdata/semantic/collision_position.hppaddoffboard/keb_path_opt_cli/CMakeLists.txteditCMakeLists.txtdata/constrain/block_data.cppdata/scenario/scenario_planner_action.cppdata/vehicle/lock_station_data.hppdata/app/fsm/task_fsm/task_fsm.cppdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/lock_station_data.cppdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.cpptasks/deciders/long_decider/constrain_decider.cpp6b0c4ec35fdc890ca61c9287f53f5ef1aa90eea71777276005000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 实现缓冲区停车功能（Buffer Stop） 2026-04-27 15:46:45 +08006b0c4ec35fdc890ca61c9287f53f5ef1aa90eea7feat: 实现缓冲区停车功能（Buffer Stop）editdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/constrain/block_data.cppeditdata/scenario/scenario_planner_action.cppeditdata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hppeditdata/vehicle/lock_station_data.hppeditdata/app/fsm/task_fsm/task_fsm.cppeditdata/vehicle/lock_station_data.cppedittasks/deciders/long_decider/constrain_decider.hppssep/ssep_planner.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/scenarios/truck_general_planner.hde88c099a7d7c1516cee194407392871901a23e71777287360000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 适配烟台跨运车的新需求 2026-04-27 18:56:00 +0800de88c099a7d7c1516cee194407392871901a23e7chore: SSEP: 适配烟台跨运车的新需求editssep/ssep_planner.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/scenarios/truck_general_planner.hdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppb15c67058b9dfb1389ea050d136a2fa3d51e5e3b1777295109000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用 2026-04-27 21:05:09 +0800b15c67058b9dfb1389ea050d136a2fa3d51e5e3bfeat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用editdata/config/cfg_env_const.hppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/map/pnc_map/routing_extension/routing_data.hpp4cf4dcdb24ee9abd37eaa8ddd3ed8d819018cf3b1777295109000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航 2026-04-27 21:05:09 +08004cf4dcdb24ee9abd37eaa8ddd3ed8d819018cf3bfeat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航editdata/map/pnc_map/routing_extension/routing_data.hppeditdata/map/pnc_map/routing_extension/routing_data.cppdata/map/pnc_map/routing_extension/routing_data.cpp0eb726db69d5b18d103d14937896e4e0988de4761777296419000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 终点和起点不在一条车道上，并且终点在身后就的处理 Co-authored-by: Copilot <copilot@github.com> 2026-04-27 21:26:59 +08000eb726db69d5b18d103d14937896e4e0988de476feat: 终点和起点不在一条车道上，并且终点在身后就的处理editdata/map/pnc_map/routing_extension/routing_data.cppdata/scenario/scenario_region_condition.cppe49db8875d89b72d8e7f3236a4de6a02a61dd2371777345933000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:动态下码头面然后进堆场，搜索过早的问题。 2026-04-28 11:12:13 +0800e49db8875d89b72d8e7f3236a4de6a02a61dd237fix:动态下码头面然后进堆场，搜索过早的问题。editdata/scenario/scenario_region_condition.cppalgorithm/plan/sweep_area.cpp5d4eb86bd0400691a024c1d3198f99dff970a3221777360530000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: sweep exception 2026-04-28 15:15:30 +08005d4eb86bd0400691a024c1d3198f99dff970a322fix: sweep exceptioneditalgorithm/plan/sweep_area.cppdata/config/cfg_lat_plan.cppalgorithm/wbca/path_optimization/path_optimization.cpptasks/plan/path_optimization_task.cppc606fdbf358d2f4ada4529ab7d896951bfa50e721777364065000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca path length = 40 in openspace 2026-04-28 16:14:25 +0800c606fdbf358d2f4ada4529ab7d896951bfa50e72fix: wbca path length = 40 in openspaceeditdata/config/cfg_lat_plan.cppeditalgorithm/wbca/path_optimization/path_optimization.cppedittasks/plan/path_optimization_task.cppssep/scenarios/scenario_planner_factory.hcdba3fef027f65b2762343f58883fe0974ee0dcb1777364304000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:进堆场触发直连模式的bug Co-authored-by: Copilot <copilot@github.com> 2026-04-28 16:18:24 +0800cdba3fef027f65b2762343f58883fe0974ee0dcbfix:进堆场触发直连模式的bugeditssep/scenarios/scenario_planner_factory.hdata/scenario/scenario_planner_action.cppdfd1996fcc1c321137668c2fec1bebd8475d8e731777366788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:上码头面前，误入进堆场场景的bug Co-authored-by: Copilot <copilot@github.com> 2026-04-28 16:59:48 +0800dfd1996fcc1c321137668c2fec1bebd8475d8e73fix:上码头面前，误入进堆场场景的bugeditdata/scenario/scenario_planner_action.cppdata/map/pnc_map/routing_extension/routing_data.cppaa1eca55157864ba12c7c386766cee95ae0c9fc31777373034000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:一次规划终点匹配失败的bug 2026-04-28 18:43:54 +0800aa1eca55157864ba12c7c386766cee95ae0c9fc3fix:一次规划终点匹配失败的bugeditdata/map/pnc_map/routing_extension/routing_data.cppdata/scenario/scenario_planner_action.cppca275eebb8203a2f179f188e4297eb50b166773a1777381898000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:在 SeasideSearch 行为中增加对引桥路口区域的判断 2026-04-28 21:11:38 +0800ca275eebb8203a2f179f188e4297eb50b166773afix:在 SeasideSearch 行为中增加对引桥路口区域的判断editdata/scenario/scenario_planner_action.cppssep/keb_optimizer/cost_features/ref_line_cost.hoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cctasks/plan/keb_path_optimize_task.cppssep/keb_optimizer/imv_keb_optimizer.cctasks/plan/keb_utils_core.cppssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hccd6eed8c77e3d2f3b794161ca61c0126dcab7061777394756000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题 2026-04-29 00:45:56 +0800ccd6eed8c77e3d2f3b794161ca61c0126dcab706fix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题edittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils_core.hppeditssep/keb_optimizer/keb_problem.cceditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_utils_core.cppedittasks/plan/keb_utils.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditoffboard/keb_path_opt_cli/keb_scene_converter.ccdata/scenario/scenario_planner_condition.cppdata/scenario/scenario_planner_bt.cpp91b2d5debb78a3b28f9934cf7ae71c34979cb9311777430549000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:<西联>适配Uturn上码头面 2026-04-29 10:42:29 +080091b2d5debb78a3b28f9934cf7ae71c34979cb931feat:<西联>适配Uturn上码头面editdata/scenario/scenario_planner_condition.cppeditdata/scenario/scenario_planner_bt.cppssep/scenarios/scenario_planner_factory.h412605b9dfe0a1cd8cad47d0c06df1cad91fec061777433842000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复进堆场近距离模式判断条件错误 2026-04-29 11:37:22 +0800412605b9dfe0a1cd8cad47d0c06df1cad91fec06fix: SSEP: 修复进堆场近距离模式判断条件错误editssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/cost_features/ref_line_cost.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/rigid_truck_keb_optimizer.cctasks/plan/keb_path_optimize_task.cppssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.cctasks/plan/keb_utils_core.cppssep/keb_optimizer/keb_problem.cctasks/plan/keb_utils.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/cost_features/temporal_consistency_cost.h66e4f9d2007bbf032c0f0b7d745dfd22bffd430a1777448824000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb-task: 修复低贝位进堆场轨迹震荡的bug 2026-04-29 15:47:04 +080066e4f9d2007bbf032c0f0b7d745dfd22bffd430afix: Keb-task: 修复低贝位进堆场轨迹震荡的bugeditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccedittasks/plan/keb_utils.cppedittasks/plan/keb_utils_core.cppeditssep/keb_optimizer/keb_problem.hedittasks/plan/keb_path_optimize_task.cppaddssep/keb_optimizer/cost_features/temporal_consistency_cost.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditalgorithm/plan/keb_optimizer.cppssep/keb_optimizer/cost_features/imv_steer_constraint.htasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/cost_features/imv_dynamic_constraint.halgorithm/plan/keb_optimizer.hppssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hoffboard/keb_path_opt_cli/keb_simulator.ccssep/keb_optimizer/keb_problem.cc85a5b9891b746c13236e27215b13a470491d83e91777459775000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性） 2026-04-29 18:49:35 +080085a5b9891b746c13236e27215b13a470491d83e9chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性）editssep/keb_optimizer/imv_keb_optimizer.cceditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/cost_features/imv_dynamic_constraint.heditssep/keb_optimizer/imv_keb_optimizer.heditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/keb_problem.hedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.hppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/keb_problem.ccdata/obstacle/block.hppdata/constrain/block_data.cppdata/config/cfg_safe_const.hppcommon/util/crash_helper.hppdata/other/flow_control.cppdata/config/cfg_safe_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/block.cpptasks/deciders/long_decider/time_path_graph_decider.cppcommon/util/crash_helper.cppdd6f2887eff14c5672e36024b0813714c59345501777545570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑 2026-04-30 18:39:30 +0800dd6f2887eff14c5672e36024b0813714c5934550refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑editdata/other/flow_control.cppeditcommon/util/crash_helper.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.cppeditdata/obstacle/block.hppeditcommon/util/crash_helper.hppeditdata/constrain/block_data.cppeditdata/config/cfg_func_sw.hppedittasks/deciders/long_decider/time_path_graph_decider.cppeditdata/obstacle/block.cppeditdata/config/cfg_safe_const.hppdata/constrain/block_data.hppdata/constrain/block_data.cppceaca35f06fdd7ca19c7d1c2f7904d164ae48bb61777547951000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加碰撞但不停车的龙门吊禁停区域记录 Co-authored-by: Copilot <copilot@github.com> 2026-04-30 19:19:11 +0800ceaca35f06fdd7ca19c7d1c2f7904d164ae48bb6feat: 添加碰撞但不停车的龙门吊禁停区域记录editdata/constrain/block_data.hppeditdata/constrain/block_data.cpp.gitignoressep/keb_optimizer/rigid_truck_keb_optimizer.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccscripts/keb_diagnostic_vis.pyssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_problem_diagnostic.halgorithm/plan/keb_optimizer.cppssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem_diagnostic.cc07aee2a74e0684ef85d9b7056ba0a6e99e82a8cd1777553707000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据 2026-04-30 20:55:07 +080007aee2a74e0684ef85d9b7056ba0a6e99e82a8cdfeat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据edit.gitignoreeditalgorithm/plan/keb_optimizer.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddscripts/keb_diagnostic_vis.pyeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/rigid_truck_keb_optimizer.haddssep/keb_optimizer/keb_problem_diagnostic.cceditssep/keb_optimizer/imv_keb_optimizer.haddssep/keb_optimizer/keb_problem_diagnostic.hoffboard/bag_to_keb_scene/bag_reader.ccoffboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_reader.hppCMakeLists.txtoffboard/bag_to_keb_scene/CMakeLists.txtoffboard/bag_to_keb_scene/bag_to_keb_scene.cc388add416c723ad59840b0b866aae8993959bf1a1777553780000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: 实现rosbag->keb scene的数据转换工具 2026-04-30 20:56:20 +0800388add416c723ad59840b0b866aae8993959bf1afeat: Keb: 实现rosbag->keb scene的数据转换工具addoffboard/bag_to_keb_scene/CMakeLists.txtaddoffboard/bag_to_keb_scene/README.mdaddoffboard/bag_to_keb_scene/bag_reader.ccaddoffboard/bag_to_keb_scene/bag_reader.hppaddoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditCMakeLists.txtssep/keb_optimizer/keb_problem_diagnostic.ccssep/keb_optimizer/keb_problem_diagnostic.hssep/keb_optimizer/keb_problem.ccc291f23eaf81a12b77b9dfc825f868bd5a3f45191777556762000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb-Diagnose: 关闭多初始解诊断 2026-04-30 21:46:02 +0800c291f23eaf81a12b77b9dfc825f868bd5a3f4519chore: Keb-Diagnose: 关闭多初始解诊断editssep/keb_optimizer/keb_problem_diagnostic.cceditssep/keb_optimizer/keb_problem_diagnostic.heditssep/keb_optimizer/keb_problem.ccdata/constrain/block_data.cppff306a5a442fa8945cdce677a6c549f1c0695ef51777650771000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑 2026-05-01 23:52:51 +0800ff306a5a442fa8945cdce677a6c549f1c0695ef5fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑editdata/constrain/block_data.cppdata/vehicle/cloud_pnc_config.cppplan/prepare/prepare_ogm.cppdata/other/flow_control.cppdata/scenario/scenario_planner_condition.cppdata/config/cfg_func_sw.hpphmi/draw/draw_map.cppdata/vehicle/cloud_pnc_config.hpphmi/draw/draw_intersection.cppdata/config/cfg_func_sw.cppdata/ssep/ssep_ec.cppplan/prepare/prepare_ogm.hppb7412fd21a316b1ef3703cc93d759282d4540fe81777655057000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 适配云端障碍物类别的功能 Co-authored-by: Copilot <copilot@github.com> 2026-05-02 01:04:17 +0800b7412fd21a316b1ef3703cc93d759282d4540fe8feat: 适配云端障碍物类别的功能editdata/config/cfg_func_sw.hppedithmi/draw/draw_intersection.cppeditdata/vehicle/cloud_pnc_config.cppeditdata/config/cfg_func_sw.cppeditdata/other/flow_control.cppeditplan/prepare/prepare_ogm.cppedithmi/draw/draw_map.cppeditdata/scenario/scenario_planner_condition.cppeditdata/ssep/ssep_ec.cppeditdata/vehicle/cloud_pnc_config.hppeditplan/prepare/prepare_ogm.hppdata/vehicle/lock_station_data.cpp86de8210ee68e6329f32cc1a35868b69ed2a94b71777909353000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据 2026-05-04 23:42:33 +080086de8210ee68e6329f32cc1a35868b69ed2a94b7fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据editdata/vehicle/lock_station_data.cppdata/map/pnc_map/routing_extension/routing_data.cpp2b509a221cdd64b1c693b51a550bdfdec8bfa4371777916260000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查 2026-05-05 01:37:40 +08002b509a221cdd64b1c693b51a550bdfdec8bfa437fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查editdata/map/pnc_map/routing_extension/routing_data.cppoffboard/bag_to_keb_scene/bag_reader.ccoffboard/bag_to_keb_scene/README.mdoffboard/bag_to_keb_scene/bag_reader.hppoffboard/bag_to_keb_scene/bag_to_keb_scene.cc44f7b48f99c518652479d5e51bea85b3e35d6de81778060788000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 2026-05-06 17:46:28 +080044f7b48f99c518652479d5e51bea85b3e35d6de8chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。editoffboard/bag_to_keb_scene/bag_reader.hppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditoffboard/bag_to_keb_scene/README.mdeditoffboard/bag_to_keb_scene/bag_reader.cctasks/plan/keb_utils.cpp70f22cdfbe6f4f6d176a40d97091accaf3f477401778060812000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 2026-05-06 17:46:52 +080070f22cdfbe6f4f6d176a40d97091accaf3f47740fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppc5db948fe5fb7098173c070809482e128577b4951778060838000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 2026-05-06 17:47:18 +0800c5db948fe5fb7098173c070809482e128577b495fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。edittasks/plan/keb_utils.cppssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/straddle_carrier_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h91fdc35083c9b02c48101419fd07aa48aa141b661778142959000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。 2026-05-07 16:35:59 +080091fdc35083c9b02c48101419fd07aa48aa141b66feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。editssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/data_structures/ssep_scenario_type.hppeditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.heditssep/protos/ssep_scenario_type.protoaddssep/scenarios/straddle_carrier_general_planner.heditssep/scenarios/scenario_planner_factory.hscenarios/bulkload_scenario/bulkload_move_forward_stage.cppc536333cacc14cfa6409a6c3cbce88b8046073ef1778208718000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复进bulk场景中，有一帧场景器不运行的bug 2026-05-08 10:51:58 +0800c536333cacc14cfa6409a6c3cbce88b8046073effix:修复进bulk场景中，有一帧场景器不运行的bugeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppdata/ssep/ssep_activation.cpp6fbef3aa974bd5ef568ccbc99974572aed2ebaad1778222003000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: ogm为空时退出搜索 2026-05-08 14:33:23 +08006fbef3aa974bd5ef568ccbc99974572aed2ebaadfix: SSEP: ogm为空时退出搜索editdata/ssep/ssep_activation.cppdata/ssep/field_junction_ec.cppdata/ssep/bridge_junction_ec.cppf52484d31ef770116289c6501ba45ac3c0800d1a1778227234000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary 2026-05-08 16:00:34 +0800f52484d31ef770116289c6501ba45ac3c0800d1arefactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundaryeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/field_junction_ec.cppalgorithm/wbca/wbca_manager.cpp223d3a6d63e5dc946bb54f6ff62014329fdf54e31778228603000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: cancel wbca task_id verification 2026-05-08 16:23:23 +0800223d3a6d63e5dc946bb54f6ff62014329fdf54e3fix: cancel wbca task_id verificationeditalgorithm/wbca/wbca_manager.cppoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CylinderPrimitive.protooffboard/keb_vis_server/foxglove/README.mdoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.proto.gitignoreoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/LinePrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.protooffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.protooffboard/keb_vis_server/foxglove/requirements.txtoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.protooffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.proto61ad307f176a1e2ecec7b94d5a63764d73c65e241778232903000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: Add keb-foxglove visualization 2026-05-08 17:35:03 +080061ad307f176a1e2ecec7b94d5a63764d73c65e24feat: Keb: Add keb-foxglove visualizationaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.protoedit.gitignoreaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CylinderPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.protoaddoffboard/keb_vis_server/foxglove/keb_to_mcap.pyaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.protoaddoffboard/keb_vis_server/foxglove/README.mdaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.protoaddoffboard/keb_vis_server/foxglove/requirements.txtaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/LinePrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.protoaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.protooffboard/keb_vis_server/foxglove/README.mdoffboard/keb_vis_server/foxglove/serve_mcap.py3d0d0fca081f967e21bb815c2b190c89ac9284c91778233071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: Keb: Add foxglove remote file server 2026-05-08 17:37:51 +08003d0d0fca081f967e21bb815c2b190c89ac9284c9feat: Keb: Add foxglove remote file servereditoffboard/keb_vis_server/foxglove/README.mdaddoffboard/keb_vis_server/foxglove/serve_mcap.pyoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_vis_server/foxglove/README.md0f11ae0bab1008819526bd858df4337cf40a65e01778236532000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复keb-foxglove转换脚本 2026-05-08 18:35:32 +08000f11ae0bab1008819526bd858df4337cf40a65e0fix: Keb: 修复keb-foxglove转换脚本editoffboard/keb_vis_server/foxglove/README.mdaddoffboard/keb_vis_server/foxglove/generate_protos.shssep/scenarios/straddle_carrier_general_planner.h44c2b4b85df795417ffb726444c32293dbc1f1231778236835000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置） 2026-05-08 18:40:35 +080044c2b4b85df795417ffb726444c32293dbc1f123feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置）editssep/scenarios/straddle_carrier_general_planner.hssep/ssep_planner.cc0c8a011f5420723cb66ac58914844eccfc48aeee1778303182000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 跨运车路径搜索时不考虑终点约束 2026-05-09 13:06:22 +08000c8a011f5420723cb66ac58914844eccfc48aeeechore: SSEP: 跨运车路径搜索时不考虑终点约束editssep/ssep_planner.ccproto/CMakeLists.txt9194eea41c71b4fbb0224dba9be07f7ce477d6751778333614000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 修复编译依赖关系未指定导致概率性编译失败的问题 2026-05-09 21:33:34 +08009194eea41c71b4fbb0224dba9be07f7ce477d675fix: 修复编译依赖关系未指定导致概率性编译失败的问题editproto/CMakeLists.txttasks/plan/keb_lane_follow_path_task.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/keb_vis_server/foxglove/generate_protos.shalgorithm/plan/keb_optimizer.hppssep/keb_optimizer/keb_problem.ccssep/protos/diagnostic.protooffboard/keb_path_opt_cli/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hppssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/CMakeLists.txtproto/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem_diagnostic.hoffboard/keb_path_opt_cli/keb_path_opt_cli.ccssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem_diagnostic.ccoffboard/keb_vis_server/foxglove/keb_to_mcap.py1b925974d34136dcea854939e67007dde1243e2f1778491269000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题 2026-05-11 17:21:09 +08001b925974d34136dcea854939e67007dde1243e2fchore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题editssep/keb_optimizer/keb_problem_diagnostic.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/keb_problem.cceditoffboard/keb_path_opt_cli/CMakeLists.txteditalgorithm/plan/keb_optimizer.hppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditoffboard/keb_path_opt_cli/keb_simulator.hppeditproto/CMakeLists.txteditssep/CMakeLists.txteditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditalgorithm/plan/keb_optimizer.cppeditproto/keb_scene.protoeditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditssep/keb_optimizer/keb_problem_diagnostic.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/keb_vis_server/foxglove/generate_protos.sheditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccaddssep/protos/diagnostic.proto.gitignoredata/map/reference/reference_road_section.cpp016c1c47dab8fedb1d3a7577ac83684b561c844e1778564370000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑 2026-05-12 13:39:30 +0800016c1c47dab8fedb1d3a7577ac83684b561c844erefactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑edit.gitignoreeditdata/map/reference/reference_road_section.cppdata/map/reference/reference_road_section.cpp2cae818e72a83c101ee324a77186f5866a1913651778567084000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 重构弯道接续逻辑，提取公共查找函数并简化流程 2026-05-12 14:24:44 +08002cae818e72a83c101ee324a77186f5866a191365refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程editdata/map/reference/reference_road_section.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h4b38573f9ff8b061484c81feef8f75803377cfbf1778570005000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位 2026-05-12 15:13:25 +08004b38573f9ff8b061484c81feef8f75803377cfbfchore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/map/reference/reference_road_section.cppe58ed555388809334c87ab9fdc55fbef1dd898981778576228000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑 2026-05-12 16:57:08 +0800e58ed555388809334c87ab9fdc55fbef1dd89898refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑editdata/map/reference/reference_road_section.cppdata/plan/center_line_info.cpptasks/other_tasks/create_center_lines.cppf5b95a7b89d7da92fddc7d2ad89ae3877d53cce31778589291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理 2026-05-12 20:34:51 +0800f5b95a7b89d7da92fddc7d2ad89ae3877d53cce3refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理editdata/plan/center_line_info.cppedittasks/other_tasks/create_center_lines.cppdata/config/cfg_static.cpp1d2ccec91a4d5d55ee1a8628b7aa6157da8d88371778653211000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加上层挂的前后基准距离计算 2026-05-13 14:20:11 +08001d2ccec91a4d5d55ee1a8628b7aa6157da8d8837feat: 添加上层挂的前后基准距离计算editdata/config/cfg_static.cppdata/config/cfg_safe_const.hppdata/obstacle/occupy_grid.hppdata/obstacle/occupy_grid.cppdata/config/cfg_safe_const.cppb3e0c232de1806c24d09b1438c4efd253fc72e331778675131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加限速相关参数和窄障碍过滤逻辑 2026-05-13 20:25:31 +0800b3e0c232de1806c24d09b1438c4efd253fc72e33feat: 添加限速相关参数和窄障碍过滤逻辑editdata/config/cfg_safe_const.hppeditdata/obstacle/occupy_grid.cppeditdata/obstacle/occupy_grid.hppeditdata/config/cfg_safe_const.cppplan/prepare/prepare_ogm.cppcommon/util/crash_helper.hpphmi/draw/draw_constrain.cppdata/constrain/longitude_constrain.cppdata/obstacle/ogm.hppdata/constrain/long_target.cpphmi/draw/draw_collision_detection.cpptasks/deciders/long_decider/constrain_decider.cppdata/lattice/ogm_crash_data.hppcommon/util/crash_helper.cppdata/plan/predict_path.cpptasks/deciders/other_decider/replan_decider.cppdata/obstacle/ogm.cppdata/plan/predict_path.hppdata/lattice/ogm_crash_data.cppdata/constrain/longitude_constrain.hpp049e471c60e56c09ca7c2223d5d1186b8d2dc5411778685039000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型 2026-05-13 23:10:39 +0800049e471c60e56c09ca7c2223d5d1186b8d2dc541feat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型edithmi/draw/draw_constrain.cppeditdata/obstacle/ogm.hppeditdata/plan/predict_path.cppeditdata/constrain/long_target.cppedithmi/draw/draw_collision_detection.cppeditdata/constrain/longitude_constrain.cppeditplan/prepare/prepare_ogm.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/constrain/longitude_constrain.hppeditcommon/util/crash_helper.cppeditdata/lattice/ogm_crash_data.cppeditcommon/util/crash_helper.hppeditdata/plan/predict_path.hppeditdata/lattice/ogm_crash_data.hppeditdata/obstacle/ogm.cppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/plan/ssep_data.cppdata/app/fsm/stop_reason.hppcommon/util/express.cppdata/app/fsm/stop_reason.cppf681eb8a15aaa2e1619d4f531bfe86654aedf63c1778685039000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 停车原因相关修改，新增禁行道路 OGM 停车类型 2026-05-13 23:10:39 +0800f681eb8a15aaa2e1619d4f531bfe86654aedf63cfeat: 停车原因相关修改，新增禁行道路 OGM 停车类型editdata/app/fsm/stop_reason.cppeditcommon/util/express.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditdata/app/fsm/stop_reason.hppeditdata/plan/ssep_data.cppreplayer/logic.cppaecf87a4b918714c30dc044500750f6fa06503db1778728535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化获取配置参数的方式，减少重复调用 2026-05-14 11:15:35 +0800aecf87a4b918714c30dc044500750f6fa06503dbrefactor: 优化获取配置参数的方式，减少重复调用editreplayer/logic.cppgithttp://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing216http://159.27.114.184:8080/jenkins/user/lufengwei/my-views/view/all/job/telediagnostic/216/214http://159.27.114.184:8080/jenkins/user/lufengwei/my-views/view/all/job/telediagnostic/214/