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#255255false25512348711785565048897http://159.27.114.184:8080/jenkins/user/lufengwei/my-views/view/all/job/telediagnostic/255/pnc_debug_msgs/msg/OgLineSegments.msgpnc_debug_msgs/msg/OgLineSegment.msgpnc_debug_msgs/CMakeLists.txt8164471355763d16bf47ba3b6ba94e6d7655160b1752640348000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comPublish og line segments 2025-07-16 12:32:28 +08008164471355763d16bf47ba3b6ba94e6d7655160bPublish og line segmentsaddpnc_debug_msgs/msg/OgLineSegments.msgeditpnc_debug_msgs/CMakeLists.txtaddpnc_debug_msgs/msg/OgLineSegment.msgpnc_debug_msgs/msg/OgLineSegment.msg995d2f70d145e971e6b16a086c18503d2882fefc1752640362000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 重新定义Og line segment msg 2025-07-16 12:32:42 +0800995d2f70d145e971e6b16a086c18503d2882fefcchore: 重新定义Og line segment msgeditpnc_debug_msgs/msg/OgLineSegment.msgpnc_debug_msgs/msg/CtrlDebug.msgpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/CMakeLists.txt3334c4581b4794355e678d586eaf5bb46eccefe11760096924000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat:在pnc_debug中增加observer_debug 2025-10-10 19:48:44 +08003334c4581b4794355e678d586eaf5bb46eccefe1feat:在pnc_debug中增加observer_debugeditpnc_debug_msgs/msg/CtrlDebug.msgeditpnc_debug_msgs/CMakeLists.txtaddpnc_debug_msgs/msg/ObserverDebug.msgplatoon_msgs/msg/Start.msgfe3fc1534c53f91f596b9458776afd6d2364f0a21763451387000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加起步时间 2025-11-18 15:36:27 +0800fe3fc1534c53f91f596b9458776afd6d2364f0a2feat_out:增加起步时间editplatoon_msgs/msg/Start.msgpnc_debug_msgs/msg/MPCReference.msgpnc_debug_msgs/msg/LonMpcDebug.msgpnc_debug_msgs/msg/LongitudinalDebug.msgpnc_debug_msgs/CMakeLists.txtbb357d9f55de56ffb8e81a618ae4d17e704039141765284628000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:lonmpc 2025-12-09 20:50:28 +0800bb357d9f55de56ffb8e81a618ae4d17e70403914feat:lonmpcaddpnc_debug_msgs/msg/MPCReference.msgaddpnc_debug_msgs/msg/LonMpcDebug.msgeditpnc_debug_msgs/msg/LongitudinalDebug.msgeditpnc_debug_msgs/CMakeLists.txtpnc_debug_msgs/msg/ObserverDebug.msg8a9957037de066d3d4cdf82cbad7fdd3c8959c6a1765284634000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: mass estimation debug 2025-12-09 20:50:34 +08008a9957037de066d3d4cdf82cbad7fdd3c8959c6afeat: mass estimation debugeditpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/msg/ObserverDebug.msgbda37c1664a0b2e9597e3bccc1de248377a604a91765284638000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整pnc_debug观测项 2025-12-09 20:50:38 +0800bda37c1664a0b2e9597e3bccc1de248377a604a9fix:调整pnc_debug观测项editpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/msg/LonMpcDebug.msg2b71c0304054364d87f064dcf43f568a81ed11e01765284642000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:油门标定消息 2025-12-09 20:50:42 +08002b71c0304054364d87f064dcf43f568a81ed11e0feat:油门标定消息editpnc_debug_msgs/msg/LonMpcDebug.msgpnc_debug_msgs/msg/LonMpcDebug.msgpnc_debug_msgs/msg/ObserverDebug.msg3fb873095fdaf1350fb114c2b530852ba9f8924d1765284647000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:增加观测 2025-12-09 20:50:47 +08003fb873095fdaf1350fb114c2b530852ba9f8924dfeat:增加观测editpnc_debug_msgs/msg/LonMpcDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/msg/ObserverDebug.msge7f6401d46660abe76b1c9237ec98980bc8362f71767580580000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:pnc_debug/observer_debug更改 2026-01-05 10:36:20 +0800e7f6401d46660abe76b1c9237ec98980bc8362f7fix:pnc_debug/observer_debug更改editpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/msg/ObserverDebug.msg4de4986bc8bb6959f1d31983148bf959dd76640d1767667120000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 统一pnc_debug_msg/ObserverDebug.msg 2026-01-06 10:38:40 +08004de4986bc8bb6959f1d31983148bf959dd76640dfix: 统一pnc_debug_msg/ObserverDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msgpnc_debug_msgs/msg/ObserverDebug.msgfa59a10a56ef4a39aa887ed0e9824a27bdf5f6751767667401000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 统一pnc_debug_msg/ObesrverDebug.msg 2026-01-06 10:43:21 +0800fa59a10a56ef4a39aa887ed0e9824a27bdf5f675fix: 统一pnc_debug_msg/ObesrverDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msgperipheral_msgs/msg/VehicleStatus.msg6895a9be22aef5e00689b15840fef864a12621631767690354000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加剩余续航里程字段 2026-01-06 17:05:54 +08006895a9be22aef5e00689b15840fef864a1262163feat_out:增加剩余续航里程字段editperipheral_msgs/msg/VehicleStatus.msgcloud_msgs/msg/TosTask.msgbd0af1a7eaa469088ebc6fa88194e792a9f60df61768558159000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:字段精度调整 2026-01-16 18:09:19 +0800bd0af1a7eaa469088ebc6fa88194e792a9f60df6feat_out:字段精度调整editcloud_msgs/msg/TosTask.msgtos_msgs/msg/PeripheralCmd.msg3e9f6f0cd2346406b4879f68c4910996c8dc821c1769061366000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修改外设cmd消息 2026-01-22 13:56:06 +08003e9f6f0cd2346406b4879f68c4910996c8dc821cfeat_out:修改外设cmd消息edittos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/VehicleStatus.msg3fe6e282961013cb8190e7ba878ca9bbc6c34a411770085537000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加外设状态反馈字段 2026-02-03 10:25:37 +08003fe6e282961013cb8190e7ba878ca9bbc6c34a41feat_out:增加外设状态反馈字段editperipheral_msgs/msg/VehicleStatus.msgtos_msgs/msg/PeripheralCmd.msg78742f614045dfc91b5e32773a9faa46dfebc4f01770281061000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:外设命令cmd枚举调整 2026-02-05 16:44:21 +080078742f614045dfc91b5e32773a9faa46dfebc4f0feat_out:外设命令cmd枚举调整edittos_msgs/msg/PeripheralCmd.msgcloud_msgs/msg/CloudPlanning.msgcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/CloudPlanningResponse.msg76803290249f1a7498b77dac42c959f2385e72a81772273255000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:添加云端规划消息 2026-02-28 18:07:35 +080076803290249f1a7498b77dac42c959f2385e72a8feat_out:添加云端规划消息addcloud_msgs/msg/CloudPlanning.msgaddcloud_msgs/msg/CloudPlanningResponse.msgaddcloud_msgs/msg/CloudPlanningPoint.msgeditcloud_msgs/CMakeLists.txtcloud_msgs/msg/CloudPlanning.msgcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/CloudPlanningResponse.msgb1e42a87435fb81745d25a9d32411056734862b81772273322000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:添加云端规划消息 2026-02-28 18:08:42 +0800b1e42a87435fb81745d25a9d32411056734862b8feat_out:添加云端规划消息addcloud_msgs/msg/CloudPlanningResponse.msgaddcloud_msgs/msg/CloudPlanning.msgeditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/msg/CloudPlanningResponse.msg23f556d99666ecfa4db447aff433ea4686f256861772520930000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:add cloud_planning_response 2026-03-03 14:55:30 +080023f556d99666ecfa4db447aff433ea4686f25686feat_out:add cloud_planning_responseeditcloud_msgs/msg/CloudPlanningResponse.msgperipheral_msgs/msg/VehicleStatus.msgb338fbf811a4f2c0c39e71ee62f18c35757f0b1d1773803625000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加续航里程字段 2026-03-18 11:13:45 +0800b338fbf811a4f2c0c39e71ee62f18c35757f0b1dfeat_out:增加续航里程字段editperipheral_msgs/msg/VehicleStatus.msgads_msgs/msg/HfsmState.msg9e61cf69319a9a472e75f01c8ed741aad6dc7a6f1773999979000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg):添加是否越过当前边界的标志位 2026-03-20 17:46:19 +08009e61cf69319a9a472e75f01c8ed741aad6dc7a6fchore(msg):添加是否越过当前边界的标志位editads_msgs/msg/HfsmState.msgtos_msgs/msg/PncConfiguration.msg0daa1f7f08156df5a55cf90342da631b318e2d3d1775655112000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg): 添加距离阈值内不避让排队车辆的标志位 2026-04-08 21:31:52 +08000daa1f7f08156df5a55cf90342da631b318e2d3dchore(msg): 添加距离阈值内不避让排队车辆的标志位edittos_msgs/msg/PncConfiguration.msgcomm_msgs/msg/Traj.msgb34e00e37e0d3a5818ba0ebb75422c11ae3b6b281776064859000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-13 15:20:59 +0800b34e00e37e0d3a5818ba0ebb75422c11ae3b6b28feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgtos_msgs/msg/PeripheralCmd.msg4c96c8a35f2498ec41691f02e4e5b3f87104d8331776161260000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加沈汽环卫上装控制 2026-04-14 18:07:40 +08004c96c8a35f2498ec41691f02e4e5b3f87104d833feat_out:增加沈汽环卫上装控制edittos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/VehicleStatus.msg2762395f197d1dcc14647d4e7bca0c6a467b69b61776246597000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:补充外设字段 2026-04-15 17:49:57 +08002762395f197d1dcc14647d4e7bca0c6a467b69b6feat_out:补充外设字段editperipheral_msgs/msg/VehicleStatus.msgcomm_msgs/msg/Traj.msgaed54f80025d95dc2fa58fadb5f26bd1c46d4b0d1776396428000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-17 11:27:08 +0800aed54f80025d95dc2fa58fadb5f26bd1c46d4b0dfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgpnc_debug_msgs/msg/ObserverDebug.msge1ea7d61508080e52f9048605a18ef6c2037b49e1776776486000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:处理合并冲突 2026-04-21 21:01:26 +0800e1ea7d61508080e52f9048605a18ef6c2037b49efeat_out:处理合并冲突editpnc_debug_msgs/msg/ObserverDebug.msgalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txt0bf8bca044aa2d9364b02efff468438ff651c1c21779358531000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 18:15:31 +08000bf8bca044aa2d9364b02efff468438ff651c1c2添加新消息——跨运车z向抱夹到位addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txtalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txtb8f59b921d1a229a9a39dc06f08a35101d7102941779362634000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 19:23:54 +0800b8f59b921d1a229a9a39dc06f08a35101d710294添加新消息——跨运车z向抱夹到位addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txtcomm_msgs/msg/Traj.msgbcbc5de637a9a70f2d4a3f32247a71a67dbfd4a01779678432000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-05-25 11:07:12 +0800bcbc5de637a9a70f2d4a3f32247a71a67dbfd4a0feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgcomm_msgs/msg/Traj.msg549daf0fc4e7c8f469ba1807acf334525ddb939b1779697241000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-05-25 16:20:41 +0800549daf0fc4e7c8f469ba1807acf334525ddb939bfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgtos_msgs/msg/PeripheralCmd.msgtmp/aha/dconf/user.marscode/deviceInfo.jsond2d1816d65aec8f872cc6f61052bdcb8c64e73e51780365770000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加吉利锁具控制 2026-06-02 10:02:50 +0800d2d1816d65aec8f872cc6f61052bdcb8c64e73e5feat_out:增加吉利锁具控制edittos_msgs/msg/PeripheralCmd.msgadd.marscode/deviceInfo.jsonaddtmp/aha/dconf/usercomm_msgs/msg/Traj.msg28d550621b9b5b7a5c1e61e58845772ff4c1525c1780369194000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: 手动rebase交通管制v2 msg变更 2026-06-02 10:59:54 +080028d550621b9b5b7a5c1e61e58845772ff4c1525cfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgperipheral_msgs/msg/PeripheralOperateState.msgtos_msgs/msg/PeripheralCmd.msg7d1f2976915d6191037ca802663b6fcf5c9528671780392251000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:新增吉利锁具控制 2026-06-02 17:24:11 +08007d1f2976915d6191037ca802663b6fcf5c952867feat_out:新增吉利锁具控制editperipheral_msgs/msg/PeripheralOperateState.msgedittos_msgs/msg/PeripheralCmd.msgcomm_msgs/msg/Traj.msgeadbbf60c2f42f9cc816ea239eb5310f19bef0581780457575000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-06-03 11:32:55 +0800eadbbf60c2f42f9cc816ea239eb5310f19bef058feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txt876f0ac7f688fcb989d1343dc7bfac606a98615e1781229500000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-12 09:58:20 +0800876f0ac7f688fcb989d1343dc7bfac606a98615efeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacleReport.msgaddguardian_msgs/msg/ParallelObstacle.msgeditguardian_msgs/CMakeLists.txtalign_msgs/msg/TargetCarStatus.msg4a63c7fafd07ee96114547c4152c16c5b153898f1781236330000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加载物状态及其枚举值&&车型错误标志 2026-06-12 11:52:10 +08004a63c7fafd07ee96114547c4152c16c5b153898f添加载物状态及其枚举值&&车型错误标志editalign_msgs/msg/TargetCarStatus.msgalign_msgs/msg/TargetCarStatus.msgdbde87dac06d38fa0c632d2b48b972820d01c3f11781236908000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加载物状态及其枚举值&&车型错误标志 2026-06-12 12:01:48 +0800dbde87dac06d38fa0c632d2b48b972820d01c3f1添加载物状态及其枚举值&&车型错误标志editalign_msgs/msg/TargetCarStatus.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txt7d57dd6412d4746df29e6b22eeda874d2244b0cd1781582456000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-16 12:00:56 +08007d57dd6412d4746df29e6b22eeda874d2244b0cdfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacleReport.msgaddguardian_msgs/msg/ParallelObstacle.msgcomm_msgs/msg/Traj.msgdb51c891fddcf73babce98115f7526d2860bd6c41781700918000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: 手动rebase交通管制v2 msg变更 2026-06-17 20:55:18 +0800db51c891fddcf73babce98115f7526d2860bd6c4feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgads_msgs/msg/Target.msg063d531a478250750e71384bff10ecd00da9d00f1782287750000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加货物分段长度字段和逃逸场景类型 2026-06-24 15:55:50 +0800063d531a478250750e71384bff10ecd00da9d00ffeat: 添加货物分段长度字段和逃逸场景类型editads_msgs/msg/Target.msgalign_msgs/msg/TargetCarStatus.msg87e2add8eda2f4683844d03b1c06fbef5e37a29f1782443028000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加车型匹配bool字段 2026-06-26 11:03:48 +080087e2add8eda2f4683844d03b1c06fbef5e37a29f添加车型匹配bool字段editalign_msgs/msg/TargetCarStatus.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txt5f922b46649cf7a0c2cee7b9a0d984783d85d8bd1783995897000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-07-14 10:24:57 +08005f922b46649cf7a0c2cee7b9a0d984783d85d8bdfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacleReport.msgeditguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msggittasks/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.cppssep/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/tractor_trailer_bidirectional_searcher_builder.ccdeletessep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.hdeletessep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.ccdeletessep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.hdeletessep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.ccdeletessep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.ccdeletessep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.hssep/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/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/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.cppssep/coarse_search/evaluator/evaluator.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/batched_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/indexed_priority_queue.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/heuristic_feature_computer.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/gpu/device_types.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/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/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.h39bf5226ef6719b607a7d0542bf55d778e7d359d1784714614000http://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/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/evaluator/evaluator.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/coarse_search/batched_priority_queue.heditssep/coarse_search/gpu_context.cceditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/evaluator/heuristic_feature_computer.heditssep/gpu/collision/collision_checker.cuheditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.haddssep/gpu/heuristic/reeds_shepp_kernel.cuheditssep/coarse_search/bounded_priority_queue.haddssep/gpu/heuristic/dubins_kernel.cuheditssep/scenarios/tractor_trailer_single_segment_parking_planner.haddssep/gpu/heuristic/heuristic_batch_bridge.cuaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/coarse_search/gpu_context.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/gpu/device_types.haddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/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.hssep/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.hdata/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/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cppdata/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.cppeditnode/logic.cppeditdata/decide/decide_reaction.hppeditsink/ros_sink_record_trigger.cppdata/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.hppssep/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/multi_stage_hybrid_astar_search_engine.cceditssep/coarse_search/motion_primitive_sampler/dubins_path.cceditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/maps/ogm_config_utils.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/scenarios/imv_multi_segment_parking_planner.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/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.haddssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/protos/ssep_scenario_type.protoeditssep/scenarios/scenario_planner_factory.haddssep/scenarios/imv_multi_segment_parking_planner.heditssep/maps/ogm_config_utils.ccCMakeLists.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.txtscenarios/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.cppdata/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.cppdata/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.cppdata/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/map/reference/center_line.cppeditdata/plan/switch_data.hppeditdata/map/reference/center_line.hppdata/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.hppdata/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.cppTesting/pjpo_case_test.cppalgorithm/plan/pjpo.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.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edittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.hppeditalgorithm/plan/pjpo.cppeditTesting/pjpo_case_test.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/plan/start_point_data.cppdata/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.cppeditdata/plan/cloud_trajectory.hpphmi/draw/draw_path_boundary.hpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpphmi/draw/draw_path_boundary.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.hppedithmi/draw/draw_all.cppedithmi/draw/draw_path_boundary.cppedithmi/widget/pnc_mat_shared.cpphmi/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/widget/pnc_mat_shared.cppedithmi/draw/draw_all.cpptasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.hppalgorithm/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editoffboard/keb_path_opt_cli/keb_simulator.cceditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.cppeditalgorithm/plan/keb_optimizer.hppdata/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cpptasks/deciders/long_decider/constrain_decider.hppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppconfig/config_car/plan.yaml2cb8008ddd943e956a7667b785fe21445e451fbc1785408966000http://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 18:56:06 +08002cb8008ddd943e956a7667b785fe21445e451fbcfeat: 增加堆高机侧向吊具高度防护edittasks/deciders/long_decider/constrain_decider.hppeditconfig/config_car/plan.yamleditdata/config/cfg_safe_const.hppeditconfig/config_imv/plan.yamleditconfig/config_truck/plan.yamledittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_safe_const.cppdata/obstacle/perception_obstacle.cpphmi/draw/draw_perception.cppdata/obstacle/perception_obstacle.hpp24e2a381bfc70845ed38184b533569d90d508a051785409016000http://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 18:56:56 +080024e2a381bfc70845ed38184b533569d90d508a05feat: 显示障碍物朝向与速度方向editdata/obstacle/perception_obstacle.cppedithmi/draw/draw_perception.cppeditdata/obstacle/perception_obstacle.hppdata/common/sl_boundary.hppf41124c53ec2aa4a916cb59387feefcc7eec9a1d1785411717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 补充 SL 边界语义访问器新增左右边界、中心位置及横纵向跨度访问接口，统一屏蔽 start/end 顺序差异。补充数学函数直接依赖，并整理头文件格式。 2026-07-30 19:41:57 +0800f41124c53ec2aa4a916cb59387feefcc7eec9a1dfeat: 补充 SL 边界语义访问器editdata/common/sl_boundary.hppgithttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.crhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing254http://159.27.114.184:8080/jenkins/user/lufengwei/my-views/view/all/job/telediagnostic/254/getBranchstruedeviceChoicetruecommitChoicerc_devmsgBranchrc_dev_qiangang_configpncBranchfeat_sidepass_deciderhdmapBranchrc_devtelediagnosticBranchfeat_qiangang_refactorhdmapInterfaceBranchrc_devnotestelediagnostic前港usersStarted by user 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#253253false2531223345SUCCESS1785119027224http://159.27.114.184:8080/jenkins/user/lufengwei/my-views/view/all/job/telediagnostic/253/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.cppdata/map/envelop/map_envelops.cpp8d8fc8fe71f58f96d192b653849d57121839fec61782473669000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofix:内存问题修复测试 2026-06-26 04:34:29 -07008d8fc8fe71f58f96d192b653849d57121839fec6fix:内存问题修复测试editdata/map/envelop/map_envelops.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h21a0e06624f66dc6703d77bd676c5703caf4fc771783499415000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑 2026-07-08 16:30:15 +080021a0e06624f66dc6703d77bd676c5703caf4fc77feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.htasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.cc4d3241f90aeda494cce7064f1ee3afdfa69911031783578051000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 调整避障参数，解决距离障碍物距离太近的问题 2026-07-09 14:20:51 +08004d3241f90aeda494cce7064f1ee3afdfa6991103fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题edittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.h705d55953bfa28c60e7c32205a25fce0642c40881783590402000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: remove strcat 2026-07-09 17:46:42 +0800705d55953bfa28c60e7c32205a25fce0642c4088fix: SSEP: remove strcateditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/map/pnc_map/routing_extension/routing_data.cpp4b940c29b51dd847bea5729ac85f01c9b5837b2d1783591714000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: destination distance exception 2026-07-09 18:08:34 +08004b940c29b51dd847bea5729ac85f01c9b5837b2dfix: destination distance exceptioneditdata/map/pnc_map/routing_extension/routing_data.cppdata/obstacle/block.cppc87ab5c742c1ab47bbb67327191b68d32269ec0e1783910923000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID) 2026-07-13 10:48:43 +0800c87ab5c742c1ab47bbb67327191b68d32269ec0eblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)editdata/obstacle/block.cppdata/obstacle/block.cpp72cb8313bcdb67e98625e34abb90fc48dac09efb1783911040000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID) 2026-07-13 10:50:40 +080072cb8313bcdb67e98625e34abb90fc48dac09efbblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)editdata/obstacle/block.cppdata/ssep/into_yard_junction_ec.cpp2c663fc2e3eb7ba04d86a73d6c074e7ef2fd6b611784021598000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框 2026-07-14 17:33:18 +08002c663fc2e3eb7ba04d86a73d6c074e7ef2fd6b61ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框editdata/ssep/into_yard_junction_ec.cppdata/boundary/road_boundary.cppdata/boundary/polygon_sl_projector.cppdata/boundary/polygon_sl_projector_test.cppdata/common/path.cppdata/config/cfg_func_sw.hppdata/boundary/road_boundary.hppdata/config/cfg_func_sw.cppdata/common/path.hppCMakeLists.txtdata/boundary/polygon_sl_projector.hppa156a6dbb9763d6fb15daf0e957a4dce81d11ac21784021958000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comboundary: 路口边界改用多边形 SL 投影, 修复异形路口边界错误(灰度默认关) 旧逻辑逐点垂线射线与手工过滤的多边形边集求交, 对凹形/异形路口取最近交点语义错误, 门边剔除脆弱, 单点失败兜底值无限传播。新增 PolygonSLProjector: 将路口多边形/envelope 轮廓离散投影到 guide line SL 系逐格聚合左右边界。要点: - 门区(出入口 ±gate_window)样本一律不采信, 防异形门口的门柱顶点把 l≈0 砸进门口格子(实车日志实证) - 横跨 guide line 且交叉点落在门区内的门边整条剔除 - max_slope=3.0 限坡磨尖刺, 不削直角外凸的可行驶区 - max_lateral=50 覆盖大路口敞开区, 避免人为截断走廊 - 出入口不与车道宽度混合, 门口宽度台阶是放宽方向, 与旧逻辑一致顺手修复 Path::GetProjection s_range 窗口两处隐藏 bug(上界 fmax 应为 fmin; 平方距离误与 50.0 比较), 新增显式窗口投影接口 GetProjectionInRange(不回退全线扫描)。开关 use_func_junction_boundary_sl_projection 默认关闭; 开启时每帧输出 [sl_bd] 新旧对比与边界表摘要日志, 供灰度期 replay 排查, 默认打开后随旧射线路径一并清理。单测 pnc_polygon_sl_projector_test(-DPNC_BUILD_TESTS=ON) 覆盖矩形/凹形/直角外凸/门柱坑/单侧无约束/退化输入与窗口投影。 2026-07-14 17:39:18 +0800a156a6dbb9763d6fb15daf0e957a4dce81d11ac2boundary: 路口边界改用多边形 SL 投影, 修复异形路口边界错误(灰度默认关)adddata/boundary/polygon_sl_projector.cppeditdata/common/path.cppadddata/boundary/polygon_sl_projector_test.cppeditdata/boundary/road_boundary.cppeditdata/config/cfg_func_sw.hppeditCMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/boundary/road_boundary.hppeditdata/common/path.hppadddata/boundary/polygon_sl_projector.hppdata/map/reference/reference_line.cppdata/ssep/open_space_ec.cppdata/map/reference/reference_line.hpp9b202b39519038925ea10704abad7c572fc8c21a1784022418000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:出堆场直接open sapce上码头面搜索起点不合适的bug 2026-07-14 17:46:58 +08009b202b39519038925ea10704abad7c572fc8c21afix:出堆场直接open sapce上码头面搜索起点不合适的bugeditdata/map/reference/reference_line.cppeditdata/map/reference/reference_line.hppeditdata/ssep/open_space_ec.cppdata/ssep/normal_junction_ec.cpp0528362a8f7311d237c27a23d17b41227443cddb1784023505000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 删除路口终点位姿的车头点框内回退校验终点区域已扩大且终点支持动态调整, 该直矩形点包含校验失去保护意义, 且在出口车道大曲率时误杀(回退到停止线得到未拉直的终点位姿)。 2026-07-14 18:05:05 +08000528362a8f7311d237c27a23d17b41227443cddbssep: 删除路口终点位姿的车头点框内回退校验editdata/ssep/normal_junction_ec.cppssep/maps/ogm.ccfb51a26b1bdd53e3f14d69ad32617986390f28331784023682000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:删除打印的日志 2026-07-14 18:08:02 +0800fb51a26b1bdd53e3f14d69ad32617986390f2833feat:删除打印的日志editssep/maps/ogm.ccdata/config/cfg_func_sw.cppa8c764bfaa62b8a6fd5f3ae8525f2f040260ff661784023833000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 禁用前向搜索设置中的 theta 功能 2026-07-14 18:10:33 +0800a8c764bfaa62b8a6fd5f3ae8525f2f040260ff66fix: 禁用前向搜索设置中的 theta 功能editdata/config/cfg_func_sw.cppalgorithm/wbca/imv_wbca_manager.cpp753c91b3c2828e366752290b615b03dd2503db2b1784024451000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca smooth mode bug 2026-07-14 18:20:51 +0800753c91b3c2828e366752290b615b03dd2503db2bfix: imv wbca smooth mode bugeditalgorithm/wbca/imv_wbca_manager.cppdata/ssep/into_yard_junction_ec.cppdb9852088a8685659c5d2a514467f0c3a043a94d1784029949000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框 2026-07-14 19:52:29 +0800db9852088a8685659c5d2a514467f0c3a043a94dssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框editdata/ssep/into_yard_junction_ec.cppdata/map/reference/reference_line.cppdata/ssep/open_space_ec.cppdata/map/reference/reference_line.hpp334f7e6b591f70224a2ce59a9bf77c8e5f92ec641784029959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:出堆场直接open sapce上码头面搜索起点不合适的bug 2026-07-14 19:52:39 +0800334f7e6b591f70224a2ce59a9bf77c8e5f92ec64fix:出堆场直接open sapce上码头面搜索起点不合适的bugeditdata/map/reference/reference_line.cppeditdata/map/reference/reference_line.hppeditdata/ssep/open_space_ec.cppdata/ssep/normal_junction_ec.cpp2b8475bdb14b662acfee2cb39481684d3113ae6a1784029967000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 删除路口终点位姿的车头点框内回退校验终点区域已扩大且终点支持动态调整, 该直矩形点包含校验失去保护意义, 且在出口车道大曲率时误杀(回退到停止线得到未拉直的终点位姿)。 2026-07-14 19:52:47 +08002b8475bdb14b662acfee2cb39481684d3113ae6assep: 删除路口终点位姿的车头点框内回退校验editdata/ssep/normal_junction_ec.cppssep/maps/ogm.cc8328dcf4d1ffd9899770b804a78dc318a6700d421784029973000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:删除打印的日志 2026-07-14 19:52:53 +08008328dcf4d1ffd9899770b804a78dc318a6700d42feat:删除打印的日志editssep/maps/ogm.ccdata/config/cfg_func_sw.cppdce71e2b8c063039797da73999b2986ad4e6f52d1784029978000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 禁用前向搜索设置中的 theta 功能 2026-07-14 19:52:58 +0800dce71e2b8c063039797da73999b2986ad4e6f52dfix: 禁用前向搜索设置中的 theta 功能editdata/config/cfg_func_sw.cppalgorithm/wbca/wbca_manager.cppalgorithm/wbca/wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cpp7a2e36942a4c2b3bf93b0d98d1a6340e31595aeb1784033369000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca direct link mode bug 2026-07-14 20:49:29 +08007a2e36942a4c2b3bf93b0d98d1a6340e31595aebfix: wbca direct link mode bugeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/linear_velocity_generator.cpp7aae25bd393db481ed8f8640a5caec04821f75461784035685000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca velocity profile bug 2026-07-14 21:28:05 +08007aae25bd393db481ed8f8640a5caec04821f7546fix: wbca velocity profile bugeditalgorithm/wbca/linear_velocity_generator.cppalgorithm/wbca/linear_velocity_generator.cppf85431cb05e0e7c164cf3be366a708c89e7956401784035722000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca velocity profile bug 2026-07-14 21:28:42 +0800f85431cb05e0e7c164cf3be366a708c89e795640fix: wbca velocity profile bugeditalgorithm/wbca/linear_velocity_generator.cppdata/ssep/ssep_ec.hppdata/ssep/ssep_ec.cppdata/vehicle/cloud_pnc_config.hpp360e40ff32048f35c5c75bcd9f4be93ab67685101784088332000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 适配云端access line 2026-07-15 12:05:32 +0800360e40ff32048f35c5c75bcd9f4be93ab6768510feat: 适配云端access lineeditdata/vehicle/cloud_pnc_config.hppeditdata/ssep/ssep_ec.hppeditdata/ssep/ssep_ec.cppdata/obstacle/ogm.cppdata/boundary/driving_corridor.cppdata/dp_poly_path/decision_trace.hpphmi/widget/dp_decision_detail.cpphmi/widget/dp_decision_detail.hppdata/obstacle/ogm.hppdata/dp_poly_path/trajectory_cost.cppdata/boundary/driving_corridor.hpp213b9b1ba2fdfd2c2cca12ee810cd90698c7167a1784088690000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comboundary: OGM 真值入栅格+贴边位编码, 修无障碍走廊边界内缩旧的贴边点云改标 200 方案用无符号距离带, 边界内侧真障碍点云也被吞成道路(限速被豁免+不发绕行+HMI 显示错), 且写入时销毁真源。改为: - 点云一律写真实灰度(253/255); BuildOgm 构建有符号边界带 mask(外侧 0.75m+内侧 2 格离散容差), ConstructDistanceMap 给占用像素打 kOccInBandBit 高位, 低 7 位保真源, 消费端各自解释: 限速豁免 in_band 亦豁免; DP 软罚按真源档(贴边点云 underlying 1.0m > 几何墙 road 0.3m, 观测优先于几何), in_band 只豁免硬判; gap 分型贴边点云归 ROAD 不发绕行 - Gap::Source 扩 7 值与 OccSource 数值一一对齐, side 判定改 IsBoundarySource(ROAD||DITCH), HMI DP 窗 7 桶分色, trace 数值语义同步(旧 dump 不兼容) - 修无障碍下走廊边界内缩(路口张开区不跟随/直线段锯齿/加点反而外扩): 挖窗豁免 ROAD(墙斜连线平坦垂距区被误判局部极小整片挖占用); 墙折线宽度突变阶梯化(斜连线贴线带啃噬 ~0.2*Δl); 扫描端点带 0.3m 内纯几何墙豁免(封边由扫描范围表达, 消像素基线锯齿); EMA 匹配容差 0.6→0.35(防历史系统性偏差持续混入不收敛) - HMI DP 窗加 shift 边界白点线(gap 端点对比定位内缩来源) 2026-07-15 12:11:30 +0800213b9b1ba2fdfd2c2cca12ee810cd90698c7167aboundary: OGM 真值入栅格+贴边位编码, 修无障碍走廊边界内缩edithmi/widget/dp_decision_detail.hppeditdata/dp_poly_path/decision_trace.hppedithmi/widget/dp_decision_detail.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/ogm.cppeditdata/obstacle/ogm.hppeditdata/boundary/driving_corridor.hppeditdata/dp_poly_path/trajectory_cost.cppdata/vehicle/cloud_pnc_config.cppsource/ros_source_pnc_config.hpphmi/draw/draw_map.cppdata/vehicle/cloud_pnc_config.hppsource/ros_source_pnc_config.cpp86128a399f44d1f70d71b1cb91cd19c8ec03043d1784100250000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 云端pnc config适配access line转换, 补HMI绘制与收包打印 2026-07-15 15:24:10 +080086128a399f44d1f70d71b1cb91cd19c8ec03043dfeat: 云端pnc config适配access line转换, 补HMI绘制与收包打印edithmi/draw/draw_map.cppeditsource/ros_source_pnc_config.hppeditdata/vehicle/cloud_pnc_config.hppeditsource/ros_source_pnc_config.cppeditdata/vehicle/cloud_pnc_config.cppdata/vehicle/cloud_pnc_config.cpp03260cb307241474583031ba804545e680c3466c1784113105000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正云端访问线路的yard_id赋值 2026-07-15 18:58:25 +080003260cb307241474583031ba804545e680c3466cfix: 修正云端访问线路的yard_id赋值editdata/vehicle/cloud_pnc_config.cppalgorithm/plan/keb_optimizer.cppe2f0c15e9a21b38099c5448c01e4b4e244f4d3861784113716000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复Warm start频繁失败的问题 2026-07-15 19:08:36 +0800e2f0c15e9a21b38099c5448c01e4b4e244f4d386fix: Keb: 修复Warm start频繁失败的问题editalgorithm/plan/keb_optimizer.cppdata/vehicle/cloud_pnc_config.cpp44d902e0bf0b25cdb826c586914fcaf8958e39001784113982000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正云端配置中access line的yard_id赋值 2026-07-15 19:13:02 +080044d902e0bf0b25cdb826c586914fcaf8958e3900fix: 修正云端配置中access line的yard_id赋值editdata/vehicle/cloud_pnc_config.cppdata/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.cppplan/prepare/prepare_ogm.hppplan/prepare/prepare_ogm.cpp4f361ae47bc58a4dca72f5bed937aac4e62e59741784178402000http://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.hppeditplan/prepare/prepare_ogm.cppdata/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.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp211ee4a470c1d5d83dafe07ea65bb65fef432a7d1784186340000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段 2026-07-16 15:19:00 +0800211ee4a470c1d5d83dafe07ea65bb65fef432a7dfix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppplan/prepare/prepare_ogm.cppplan/prepare/prepare_ogm.hpp037d24ad730656b6b84ce85ecd9ff179d1e6286f1784186346000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: OGM精细碰撞采样点分级去重, 控制序列化体积精细碰撞开启时采样点不再全量保留: - 引导线路径带(半径12m, 1m粗块掩码)内按1/4 cell子格去重, 位置误差上界约3.5cm, 每cell至多16点 - 路径带外及无引导线时退化为每cell仅保留首点(等同旧抽稀密度) - 栅格写入逻辑不变, 仅瘦身采样点集; 精细开关关闭时行为不变 - 顺手收拢龙须/上下层四处重复写入分支为AddPoint 2026-07-16 15:19:06 +0800037d24ad730656b6b84ce85ecd9ff179d1e6286fperf: OGM精细碰撞采样点分级去重, 控制序列化体积editplan/prepare/prepare_ogm.cppeditplan/prepare/prepare_ogm.hppdata/vehicle/lock_station_data.cpp50a557ba5ed0e80690bfb2284a4aed695e47745e1784186360000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出 2026-07-16 15:19:20 +080050a557ba5ed0e80690bfb2284a4aed695e47745efix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出editdata/vehicle/lock_station_data.cppdata/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.cppreplayer/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.cppplan/prepare/prepare_status.hppplan/prepare/prepare_status.cppdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp46f793d6f300e33aa0d19b0a6c518d26f886bfd11784260934000http://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MOVEeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hppeditdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpptasks/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/path_bounds_decider.cpptasks/deciders/lat_decider/trailer_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edittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/config/cfg_lat_plan.cppeditdata/config/cfg_lat_plan.hppedittasks/deciders/lat_decider/path_bounds_decider.cppeditreplayer/replayer_data_process/replayer_data_process.cppedittasks/deciders/lat_decider/trailer_path_bounds_decider.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppedittasks/deciders/lat_decider/side_pass_decider.cppdata/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.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_command_type.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppeditdata/app/fsm/task_fsm/task_fsm.cppdata/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/common/path.cppeditdata/map/pnc_map/pnc_map_path.cppdata/common/path.hppdata/common/path.cppdata/common/path_point.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.cppeditdata/common/path_point.cppplan/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.cppdata/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.cppdata/obstacle/decision/obstacle_decision.hpptasks/plan/keb_utils.cppdata/obstacle/decision/obstacle_decision.cpptasks/deciders/other_decider/obstacle_decider.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editdata/obstacle/obstacle.hppadddata/obstacle/decision/obstacle_decision.cppeditdata/dp_poly_path/trajectory_cost.cppadddata/obstacle/decision/obstacle_decision.hppedittasks/plan/keb_utils.cppedittasks/deciders/other_decider/obstacle_decider.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/obstacle_decider_attr.hpptasks/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/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.cppeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppedittasks/deciders/lat_decider/trailer_side_pass_decider.cppeditdata/config/cfg_lat_plan.hppeditdata/config/cfg_lat_plan.cppdata/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.hppeditdata/dp_poly_path/decision_trace.cppdata/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.cppdata/boundary/driving_corridor.cpphmi/draw/draw_perception.cppdata/dp_poly_path/decision_trace.hppdata/obstacle/perception_obstacle.hppdata/constrain/longitude_constrain.cpptasks/deciders/long_decider/constrain_decider.hpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/perception_obstacle.cppdata/dp_poly_path/trajectory_cost.cppdata/boundary/driving_corridor.hppdata/config/cfg_safe_const.hppdata/common/sl_boundary.hppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_safe_const.cppdata/config/cfg_lat_plan.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/obstacle/obstacle_decider_attr.cppeditdata/obstacle/perception_obstacle.cppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_lat_plan.cppeditdata/boundary/driving_corridor.hppeditdata/config/cfg_safe_const.hppeditdata/obstacle/perception_obstacle.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/dp_poly_path/trajectory_cost.cppeditdata/common/sl_boundary.hppeditdata/constrain/longitude_constrain.hppeditdata/boundary/driving_corridor.cppedithmi/draw/draw_perception.cppeditdata/map/reference/reference_segment.cppeditdata/config/cfg_func_sw.hppeditdata/dp_poly_path/decision_trace.hppeditdata/constrain/longitude_constrain.cppeditdata/obstacle/obstacle_decider_attr.hppedittasks/deciders/long_decider/constrain_decider.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/config/cfg_lat_plan.hppeditdata/dp_poly_path/decision_trace.cppdata/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.cppdata/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.cppdata/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.cppdata/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.cppdata/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.cppdata/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.hppdata/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/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppdata/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/config/cfg_func_sw.hppeditdata/map/pnc_map/pnc_map_path.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/obstacle_decider_attr.cppeditdata/config/cfg_func_sw.cppeditdata/boundary/driving_corridor.cppeditdata/obstacle/obstacle_decider_attr.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/map/pnc_map/pnc_map_path.cppdata/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/boundary/driving_corridor.cppedittasks/plan/keb_utils.cppedithmi/draw/draw_perception.cppeditdata/obstacle/ogm.cppeditdata/obstacle/ogm.hppdata/obstacle/decision/obstacle_decision.hppdata/map/pnc_map/pnc_map_path.cppdata/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/driving_corridor.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/map/pnc_map/pnc_map_path.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/boundary/road_boundary.cppeditdata/boundary/road_boundary.hppeditdata/map/pnc_map/pnc_map_path.cppdata/decide/decide_reaction.cppdata/decide/decide_reaction.hppsink/ros_sink_record_trigger.cppnode/logic.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)editdata/decide/decide_reaction.hppeditsink/ros_sink_record_trigger.cppeditdata/decide/decide_reaction.cppeditnode/logic.cpptasks/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/config/cfg_lat_plan.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppeditcommon/util/express.cppeditdata/constrain/longitude_constrain.cppedittasks/deciders/long_decider/constrain_decider.cppdata/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.cppdata/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.hppeditdata/config/cfg_region.cppgithttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohttp://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing254http://159.27.114.184:8080/jenkins/user/lufengwei/my-views/view/all/job/telediagnostic/254/252http://159.27.114.184:8080/jenkins/user/lufengwei/my-views/view/all/job/telediagnostic/252/