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parametersconfigure-namecheckoutversionfalse#4761101285362288orin-module-slave32 #47614761false47611232237FAILURE1785394376689http://159.27.114.184:8080/jenkins/user/niuwanqing/my-views/view/all/job/orin-module-slave32/4761/CMakeLists.txtec9340249732808b8bb0aff790e41a93e52afb951785240696000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.combuild: Debug 调试信息拆到 .dwo, 链接改用 lld -fstandalone-debug 让每个 .o 都带完整调试信息, 全量产出 819 个 .o 共 4.7GB、可执行文件各 1.35GB, 结果 ccache 装不下一次全量(命中率仅 17%), 链接也很慢。追加 -gsplit-dwarf 把调试信息拆到独立 .dwo, 不再进 .o 和最终二进制。两个 flag 各管一件事(前者决定类型完整性, 后者决定存放位置), 必须同时保留, 调试能力不变。改动后 .o 总量降到 1.25GB, pnc_node 降到 768MB。链接器在探测到 lld 时改用 lld, 链接阶段耗时占比从瓶颈降到 0.3%。lld 是独立包不随 clang 一起装, 所以先问编译器能否使用再启用, 没装的机器回落系统默认链接器。注意: .dwo 按相对路径记录, 调试器需从 build/ 目录启动才能定位。 2026-07-28 20:11:36 +0800ec9340249732808b8bb0aff790e41a93e52afb95build: Debug 调试信息拆到 .dwo, 链接改用 lldeditCMakeLists.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/map/reference/center_line.hppdata/plan/switch_data.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.hppeditdata/plan/switch_data.hppeditdata/map/reference/center_line.cppdata/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.cppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppalgorithm/plan/pjpo.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppda4be3630541b4f5bdbf9c92a634bdf9edf092ca1785308190000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲一、变道横移走不完(车挪 1~3m 就停住, 路径起点段变直) 车的横移速率 ≈ init_dl × v(每帧只执行路径最前约 0.5m), 所以起点斜率一旦被压到 0, 路径形状再对车也不动。两处把它压到 0: - 起点 dl 在变道场景恢复硬约束(新增 soften_init_dl)。dcf2390c1 为治 side-pass 的起点 kappa kink 把 init_dl 软化, 但变道恰恰需要起点持续保持朝目标的横移斜率, 软化后 QP 每帧把它拉回 0(kSoftInitPenalty 相对 l_ref 权重极低, 拉回几乎无代价), 实测逐帧 0.113 -> 0.0137 -> 0.00065。 - kInitDlOutwardMax 的"向外"判据改为相对 path_reference_l。原按 init_l 符号判, 会把 PREPARE 段"正朝目标车道靠拢"误判成向外漂移(实测 ref_l=1.57/init_l=0.82/ init_dl=0.06), 起点斜率被夹死在 0.05。另新增 BoostLaneChangeInitDl: QP 每帧的解从起点起 dl 就单调递减, 而车只执行起点段, 构成一阶惯性环节(指数收敛、尾巴无限长), 只能在入口给定横移速率下限打破。二、跨两车道路径扭曲(变一道正常, 变两道路径扭、控制跟不住而触发曲率限速) - 变道 dl 上限放宽到 0.8。单车道 S 曲线峰值仅 0.26, 跨两车道需 ~0.5, 恰好顶死 ±0.5 上限, QP 在约束边界上滑动导致解非光滑。用同一帧 dump 离线扫描, dl 拐点数与触限程度严格对应: 0.3->7, 0.5->3, 0.8->1; 放宽后实际只用到 0.505。 - config_local 的 lane_change_weight.dl_weight 20->5000(不在本仓库, 需单独同步) 压 dl 峰值治"急": 峰值 0.42->0.30, 拐点 2->0, 收敛距离 18m->44.5m。三、连带修复 - init_dl 为硬约束时补上夹进 dl 边界。piecewise_jerk_problem 把 dx[0] 上下界同设为 init 值(硬等式), 与 dx 的 box 约束矛盾时 OSQP 直接 primal infeasible, 而变道关闭了 all_soft 兜底, 会一路掉到 last_path fallback。 - 起点 dl/ddl 增加 Frenet 直传(参考线几何未变时从上一帧解按 s 取), 绕开 Cartesian 往返; 失败自动回退反算。 - PjpoConstraintOptions 序列化补 enable_all_soft_fallback(版本 2->3)。生产置 false 而结构体默认 true, 之前从不入档, 离线回放会多挂 all_soft 档致复现不可信。 - 新增离线工具 AnalyzeDlBoundEffect(扫 dl 上限/权重, 打印 opt_dl 曲线与拐点数)与 SidePassOutwardClampRegression(比对新旧向外判据并校验解是否退化)。验证: 实车变道正常、曲率连续; side-pass 回归 72 例 0 退化, 其中 1 例判据差异是对旧判据误夹的纠正(车朝走廊中点走却被当成向外漂移)。 2026-07-29 14:56:30 +0800da4be3630541b4f5bdbf9c92a634bdf9edf092cafix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲editdata/plan/start_point_data.cppedittasks/plan/pjpo_task.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppeditTesting/pjpo_case_test.cppeditalgorithm/plan/pjpo.cppeditalgorithm/plan/pjpo.hppdata/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_path_boundary.cpphmi/draw/draw_all.cpp30cbd506d639839b8df2171d9863099ea94920481785308450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: HMI 显示 road boundary 的 shift type 在 road boundary 左边界点旁标注每段的 shift type, 类型跳变处各标一个, 同类型连续断面不重复标。文字画在 cv::flip 之后(flip 前画会上下颠倒), 沿用 DrawReverseApproach 的两段式: Draw 阶段只缓存 UTM 锚点, DrawText 做坐标变换并出字。 2026-07-29 15:00:50 +080030cbd506d639839b8df2171d9863099ea9492048feat: HMI 显示 road boundary 的 shift typeedithmi/draw/draw_path_boundary.cppedithmi/draw/draw_all.cppedithmi/widget/pnc_mat_shared.cppedithmi/draw/draw_path_boundary.hpphmi/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 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