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"timestamp" : 1784270779000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 远程单次直线步进END后不退出循环重回MOVE\u000a\u000aUpdateFSMState 每周期被调两次(pilot_update 一次, 失败 stage 经\u000aResetSuccessorTasks 仍强制执行的 MOTION_FSM_TASK 一次), fsm_interface\u000a的 last_motion_sub_state_type 被第二次快照拍平, REMOTE_MOVE->REMOTE_END\u000a边沿被吞, is_need_increase_remote_idx_ 永不置位, cur_remote_idx_ 不推进,\u000afinishReqRemoteCtrl 不触发, REMOTE_END 停 remote_align_stop_sec 后经\u000aRemoteInit 无条件重回 REMOTE_MOVE 直至超时.\u000a\u000aprepare 改为自持上周期 remote 子状态判 END 进入沿, 不再依赖\u000afsm_interface 的 last_*; REMOTE_STOP 跳过判断同步替换恢复原语义.\u000a", "date" : "2026-07-17 14:46:19 +0800", "id" : "72009854a7c4ddb6758552e58d1be9e0ca3e37d2", "msg" : "fix: 远程单次直线步进END后不退出循环重回MOVE", "paths" : [ { "editType" : "edit", "file" : "data/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp" }, { "editType" : "edit", "file" : 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Park_Park2Travel对PARK_MOVE\u000a放行新routing逃生, 但带双卡死判据(switch恒KEEP+停留超20s),\u000a正常进位途中刷新停车任务不受影响\u000a\u000a另补EnumType2String缺失的E_TASK_FSM/E_MOTION_FSM映射,\u000a日志不再把正常事件误打成E_NO_STATE\u000a", "date" : "2026-07-17 14:47:39 +0800", "id" : "a5afde418b758301551f63748ff5a58175d144cb", "msg" : "fix: park子状态机收普通任务卡死PARK_MOVE无法退出", "paths" : [ { "editType" : "edit", "file" : "data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp" }, { "editType" : "edit", "file" : "data/app/fsm/task_command_type.cpp" }, { "editType" : "edit", "file" : "data/app/fsm/task_fsm/task_fsm.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc", "ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc", "ssep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.cc", 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"file" : "data/common/path_point.cpp" }, { "editType" : "edit", "file" : "data/common/path.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "plan/prepare/prepare_status.cpp" ], "commitId" : "6087fa2830942d05011e37f9971570f912f11c23", "timestamp" : 1784461943000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 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\u000a", "date" : "2026-07-19 19:52:23 +0800", "id" : "6087fa2830942d05011e37f9971570f912f11c23", "msg" : "fix: 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", "paths" : [ { "editType" : "edit", "file" : "plan/prepare/prepare_status.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/map/pnc_map/pnc_map_path.cpp", "data/common/path.cpp" ], "commitId" : "42056f95c73509f3f58d61530894685e20a604d4", 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搜索。\u000a\u000a参考线预计算逆向车道几何(PncMapPath::InitWidth):\u000a- 新增 ReverseLaneGeo{valid,num,near_bound_l,far_bound_l,gap}, 逐采样点\u000a 存左/右逆向道近远边界与缝宽(可为负), 复用原有 GetToRoadBoundaryDistance\u000a /GetProjection 结果不重复查图; 不序列化。\u000a- 访问器 GetReverseLaneGeo(s, is_left, out)。\u000a\u000a场景判定(obstacle_decision::IsMeetingBorrowYieldScenario, 帧级):\u000a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\u000a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。\u000a\u000a执行(DrivingCorridor::Init) 三层门控:\u000a1. 场景成立;\u000a2. 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,\u000a 让它尽快清空逆向道; 让行只拦尚未起步的借行;\u000a3. 本车道确实被堵才钳——用 his 走廊 drivable_seg 判(原始 OGM 堵塞, 与本帧\u000a 钳制无关, 不震荡); 本车道畅通则完全不动边界。\u000a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\u000a方向盘猛打; 车道被堵死→无 gap→复用纵向停, 不硬挤右侧。\u000a\u000a停住的对向车写入栅格(IsCorridorGridObstacle):\u000a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\u000a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\u000a(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\u000a读到上帧陈旧值。\u000a\u000a其他:\u000a- 逆向车绕行策略直接 ALLOW: 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"fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 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\u000a\u000a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\u000a(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\u000a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\u000a搜索必然失败。\u000a\u000a- 折线化: 新增 AppendOffsetPolylineTunnel(沿参考线 2m 等 l 偏移折线) /\u000a AppendCrossLineTunnel(等 s 断面法向封口线) / CalcMaxCurvature(theta 差分\u000a 带符号曲率), 替换四处弦近似: ConstructStartTunnel 两条侧墙+横切线、\u000a ConstructEndTunnel 左右管道+后端封口、ConstructObsTunnel、\u000a GetRealObstacleTunnel。横向量统一为 SL 约定(左正右负), 与旧\u000a 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\u000a- 弯道裕量: end tunnel 补挂车 offtracking(L^2*kappa/2, 上限 1.2m, 按曲率符号\u000a 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)\u000a- 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\u000a- 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\u000a 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\u000a GetReferencePoint, 避免最近离散点致曲率被静默低估为 0\u000a\u000a灰度 use_func_lc_tunnel_curvature_fit / use_func_lc_tunnel_curvature_margin,\u000acfg_func_sw 序列化 version 15。replay 与实车均未验证。\u000a", "date" : "2026-07-27 10:53:00 +0800", "id" : "a93cf96e88f3a7a11105b1445a36733642ee3fe7", "msg" : "fix: 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", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_func_sw.cpp" }, { "editType" : "edit", "file" : "data/ssep/ex_lane_change_ec.cpp" }, { "editType" : "edit", "file" : "data/config/cfg_func_sw.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/ssep/ex_lane_change_ec.cpp", "data/config/cfg_func_sw.cpp", "data/config/cfg_func_sw.hpp" ], "commitId" : "92088627602c301bd21d516bfa3654bcba0cc818", "timestamp" : 1785121109000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 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\u000a\u000a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\u000a(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\u000a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\u000a搜索必然失败。\u000a\u000a- 折线化: 新增 AppendOffsetPolylineTunnel(沿参考线 2m 等 l 偏移折线) /\u000a AppendCrossLineTunnel(等 s 断面法向封口线) / CalcMaxCurvature(theta 差分\u000a 带符号曲率), 替换四处弦近似: ConstructStartTunnel 两条侧墙+横切线、\u000a ConstructEndTunnel 左右管道+后端封口、ConstructObsTunnel、\u000a GetRealObstacleTunnel。横向量统一为 SL 约定(左正右负), 与旧\u000a 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\u000a- 弯道裕量: end tunnel 补挂车 offtracking(L^2*kappa/2, 上限 1.2m, 按曲率符号\u000a 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)\u000a- 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\u000a- 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\u000a 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\u000a GetReferencePoint, 避免最近离散点致曲率被静默低估为 0\u000a\u000a灰度 use_func_lc_tunnel_curvature_fit / use_func_lc_tunnel_curvature_margin,\u000acfg_func_sw 序列化 version 15。replay 与实车均未验证。\u000a", "date" : 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cluster投影到逆向链自身量弧长(不碰guide的SL, 规避弯道投影问题),\u000a 帧级批量关联维持航迹, 两车占用冲突区的时间窗交叠即触发\u000a\u000a防误停三道门: 路沿侧边界内缩、接近速度死区、航迹成熟度。\u000a停止线保持2s防判据抖动导致点头; 车头横向切入对向道路超阈则整体释放 —— 进区\u000a后再停等于横在对向道上挡路, 比抢过去更危险。\u000a\u000a灰度use_reverse_approach_stop默认关, 12项参数均可rosparam调。\u000aHMI\"逆向车道接近\"菜单画链/道路边界/判定带/冲突区/命中cluster, 状态行给出各道\u000a门的通过情况。\u000a", "date" : "2026-07-27 22:44:27 +0800", "id" : "37e60d1fffdd460496b2b6249ed71c92517de4c9", "msg" : "feat: 逆向车道快速接近凸包停车防护(cluster兜底)", "paths" : [ { "editType" : "edit", "file" : "data/constrain/longitude_constrain.cpp" }, { "editType" : "edit", "file" : "hmi/widget/pnc_mat_shared.cpp" }, { "editType" : "edit", "file" : "data/config/cfg_safe_const.cpp" }, { "editType" : "edit", "file" : "data/constrain/longitude_constrain.hpp" }, { "editType" : "edit", "file" : "data/config/cfg_hmi.cpp" }, { "editType" : "edit", "file" : "data/config/cfg_hmi.hpp" }, { "editType" : "edit", "file" : "data/constrain/long_target.cpp" }, { "editType" : "add", "file" : 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"http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)\u000a\u000a判定:\u000a- 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\u000a 检查也复用它, 拆成 left/right 各算各的\u000a- 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\u000a- seaside/lane_change 比较用 start_match.s() 却存 end_match.s(), 下一轮\u000a 比较基准错位, 统一回 start\u000a\u000a越界与崩溃防护:\u000a- RelationOfRefByIdx 两个重载空容器时 size()-1 下溢, 后面 CHECK 必失败,\u000a 改优雅返回 INT32_MAX(46 处调用点已按此值处理)\u000a- UpdateSwitchAttr 开头补 empty() 早退, 原先 back() 无保护\u000a- JudgeIsInBlackLane 查的是邻车道, 补 idx==0 查左邻的边界判断\u000a- GetBlackLaneDistanceFromEgo 的 count 是变道相对关系可为负, idx+count\u000a 走 size_t 会下溢, 改 int64_t 中转后校验\u000a- SwitchData::curr_lane_idx_/target_lane_idx_ 无类内初始化也不在构造列表,\u000a 补 SIZE_MAX\u000a\u000a冗余拷贝(均为每帧热路径, CenterLine 含完整点列):\u000a- UpdateBlackLaneDistance 深拷贝整个 MltCenterLines\u000a- GetBlackLaneDistanceFromEgo 首次 at(idx) 拷贝立即被覆盖\u000a- JudgeIsInBlackLane 按值拷贝邻车道\u000a\u000a死代码:\u000a- 136 行注释掉的 lane_change 旧实现\u000a- LaneChangePtIsInCurPath(条件括号错位致语义反转, 仅注释块内调用)\u000a- buffer 途径点在 center_line 侧的链路(赋值处早已注释, 无消费者);\u000a AppReaction::buffer_passing_pts_ 仍在用, 未动\u000a", "date" : "2026-07-28 20:15:05 +0800", "id" : "07d92304fb54c78cba2b3372c5c505f2b6438d9d", "msg" : "fix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)", "paths" : [ { "editType" : "edit", "file" : "data/plan/switch_data.hpp" }, { "editType" : "edit", "file" : "data/map/reference/center_line.hpp" }, { "editType" : "edit", "file" : "data/map/reference/center_line.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/vehicle_kinematics.hpp", "math/dubins_curve/dubins_curve.hpp" ], "commitId" : "f52a80e3e066ada24ab08c9c3386d1f6dcc18f1a", "timestamp" : 1785242096000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 添加车辆最大曲率计算函数，优化运动学处理\u000a", "date" : "2026-07-28 20:34:56 +0800", "id" : "f52a80e3e066ada24ab08c9c3386d1f6dcc18f1a", "msg" : "feat: 添加车辆最大曲率计算函数，优化运动学处理", "paths" : [ { "editType" : "add", "file" : "data/config/vehicle_kinematics.hpp" }, { "editType" : "edit", "file" : "math/dubins_curve/dubins_curve.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "hmi/draw/draw_path_boundary.hpp", "hmi/widget/pnc_mat_shared.cpp", "hmi/draw/draw_path_boundary.cpp", "hmi/draw/draw_all.cpp" ], "commitId" : "5b27175f0138069d8f6b7d25750b6511d52adb1a", "timestamp" : 1785246274000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: HMI 显示 road boundary 的 shift type\u000a\u000a在 road boundary 左边界点旁标注每段的 shift type, 类型跳变处各标一个,\u000a同类型连续断面不重复标。\u000a\u000a文字画在 cv::flip 之后(flip 前画会上下颠倒), 沿用 DrawReverseApproach\u000a的两段式: Draw 阶段只缓存 UTM 锚点, DrawText 做坐标变换并出字。\u000a", "date" : "2026-07-28 21:44:34 +0800", "id" : "5b27175f0138069d8f6b7d25750b6511d52adb1a", "msg" : "feat: HMI 显示 road boundary 的 shift type", "paths" : [ { "editType" : "edit", "file" : "hmi/draw/draw_path_boundary.hpp" }, { "editType" : "edit", "file" : "hmi/widget/pnc_mat_shared.cpp" }, { "editType" : "edit", "file" : "hmi/draw/draw_path_boundary.cpp" }, { "editType" : "edit", "file" : "hmi/draw/draw_all.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/common/trajectory_point.cpp" ], "commitId" : "6d93e3a9c729dba971bb8b40f0600f479bffc180", "timestamp" : 1785300131000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用\u000a\u000aMatchPtByt/MatchPtByS/MatchMultiPtsByMultiS 都把 [0,1] 的比例传给\u000aInterpPtByLinearS, 而后者第三参是绝对弧长, 于是恒命中其 \"p0.s() >= s - 0.01\"\u000a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\u000a退化成按离散点向下取整。\u000a\u000a- MatchPtByt: 把时间比例换算成对应弧长再传\u000a- MatchPtByS / MatchMultiPtsByMultiS: 本就按 s 查, 直接传 s\u000a- MatchMultiPtsByMultiS: 顺带修解引用 end() 的 UB 与 l/u 写反(该函数无调用方)\u000a- InterpPtByLinearS: z_ 是被重载的字段(存挂车横摆角, 另有 10000 终止哨兵),\u000a 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\u000a\u000a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、\u000acloud_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。\u000a", "date" : "2026-07-29 12:42:11 +0800", "id" : "6d93e3a9c729dba971bb8b40f0600f479bffc180", "msg" : "fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用", "paths" : [ { "editType" : "edit", "file" : "data/common/trajectory_point.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "Testing/pjpo_case_test.cpp", "tasks/deciders/lat_decider/switching_bounds_decider.cpp", "algorithm/plan/pjpo.cpp", "data/plan/start_point_data.cpp", "algorithm/plan/pjpo.hpp", "tasks/plan/pjpo_task.cpp" ], "commitId" : "d22a1c8ac945ee70b47bf11a0263366d995c84f9", "timestamp" : 1785300165000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲\u000a\u000a一、变道横移走不完(车挪 1~3m 就停住, 路径起点段变直)\u000a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\u000a0, 路径形状再对车也不动。两处把它压到 0:\u000a- 起点 dl 在变道场景恢复硬约束(新增 soften_init_dl)。dcf2390c1 为治 side-pass\u000a 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\u000a 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\u000a 无代价), 实测逐帧 0.113 -> 0.0137 -> 0.00065。\u000a- kInitDlOutwardMax 的\"向外\"判据改为相对 path_reference_l。原按 init_l 符号判,\u000a 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/\u000a init_dl=0.06), 起点斜率被夹死在 0.05。\u000a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\u000a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。\u000a\u000a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)\u000a- 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\u000a ±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\u000a 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。\u000a- config_local 的 lane_change_weight.dl_weight 20->5000(不在本仓库, 需单独同步)\u000a 压 dl 峰值治\"急\": 峰值 0.42->0.30, 拐点 2->0, 收敛距离 18m->44.5m。\u000a\u000a三、连带修复\u000a- 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\u000a 为 init 值(硬等式), 与 dx 的 box 约束矛盾时 OSQP 直接 primal infeasible, 而变道\u000a 关闭了 all_soft 兜底, 会一路掉到 last_path fallback。\u000a- 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\u000a 往返; 失败自动回退反算。\u000a- PjpoConstraintOptions 序列化补 enable_all_soft_fallback(版本 2->3)。生产置 false\u000a 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。\u000a- 新增离线工具 AnalyzeDlBoundEffect(扫 dl 上限/权重, 打印 opt_dl 曲线与拐点数)与\u000a SidePassOutwardClampRegression(比对新旧向外判据并校验解是否退化)。\u000a\u000a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\u000a旧判据误夹的纠正(车朝走廊中点走却被当成向外漂移)。\u000a", "date" : "2026-07-29 12:42:45 +0800", "id" : "d22a1c8ac945ee70b47bf11a0263366d995c84f9", "msg" : "fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲", "paths" : [ { "editType" : "edit", "file" : "tasks/deciders/lat_decider/switching_bounds_decider.cpp" }, { "editType" : "edit", "file" : "algorithm/plan/pjpo.hpp" }, { "editType" : "edit", "file" : "tasks/plan/pjpo_task.cpp" }, { "editType" : "edit", "file" : "Testing/pjpo_case_test.cpp" }, { "editType" : "edit", "file" : "algorithm/plan/pjpo.cpp" }, { "editType" : "edit", "file" : "data/plan/start_point_data.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/ssep/forward_ec.cpp" ], "commitId" : "494a4c03c12d713a4f2c572f39263f19537749f2", "timestamp" : 1785300245000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 梁山港进料场景也使用通用牵引挂车泊车场景\u000a\u000a原先仅出料(BulkOut)时设为 kTractorTrailerGeneral, 现进料(BulkIn)同样适用。\u000a", "date" : "2026-07-29 12:44:05 +0800", "id" : "494a4c03c12d713a4f2c572f39263f19537749f2", "msg" : "feat: 梁山港进料场景也使用通用牵引挂车泊车场景", "paths" : [ { "editType" : "edit", "file" : "data/ssep/forward_ec.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/plan/cloud_trajectory.cpp", "data/plan/cloud_trajectory.hpp" ], "commitId" : "6b68ccaa05a2dfddc975df3c86c4ab8b783fa6d2", "timestamp" : 1785303286000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 云端轨迹下发各 lane 的剩余长度与总长度\u000a\u000aTraj.msg 的 length_s/total_length_s 与 lane_ids 逐项对齐, 取值来自\u000a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\u000alane 取引导线覆盖的全长; 变道备用引导线不下发长度。\u000a", "date" : "2026-07-29 13:34:46 +0800", "id" : "6b68ccaa05a2dfddc975df3c86c4ab8b783fa6d2", "msg" : "feat: 云端轨迹下发各 lane 的剩余长度与总长度", "paths" : [ { "editType" : "edit", "file" : "data/plan/cloud_trajectory.hpp" }, { "editType" : "edit", "file" : "data/plan/cloud_trajectory.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/common/trajectory_point.cpp" ], "commitId" : "110e813513452226d19c6b61ef6ade1f9018d9ca", "timestamp" : 1785308178000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用\u000a\u000aMatchPtByt/MatchPtByS/MatchMultiPtsByMultiS 都把 [0,1] 的比例传给\u000aInterpPtByLinearS, 而后者第三参是绝对弧长, 于是恒命中其 \"p0.s() >= s - 0.01\"\u000a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\u000a退化成按离散点向下取整。\u000a\u000a- MatchPtByt: 把时间比例换算成对应弧长再传\u000a- MatchPtByS / MatchMultiPtsByMultiS: 本就按 s 查, 直接传 s\u000a- MatchMultiPtsByMultiS: 顺带修解引用 end() 的 UB 与 l/u 写反(该函数无调用方)\u000a- InterpPtByLinearS: z_ 是被重载的字段(存挂车横摆角, 另有 10000 终止哨兵),\u000a 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\u000a\u000a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、\u000acloud_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。\u000a", "date" : "2026-07-29 14:56:18 +0800", "id" : "110e813513452226d19c6b61ef6ade1f9018d9ca", "msg" : "fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用", "paths" : [ { "editType" : "edit", "file" : "data/common/trajectory_point.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "Testing/pjpo_case_test.cpp", "data/plan/start_point_data.cpp", "tasks/deciders/lat_decider/switching_bounds_decider.cpp", "algorithm/plan/pjpo.cpp", "algorithm/plan/pjpo.hpp", "tasks/plan/pjpo_task.cpp" ], "commitId" : "da4be3630541b4f5bdbf9c92a634bdf9edf092ca", "timestamp" : 1785308190000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲\u000a\u000a一、变道横移走不完(车挪 1~3m 就停住, 路径起点段变直)\u000a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\u000a0, 路径形状再对车也不动。两处把它压到 0:\u000a- 起点 dl 在变道场景恢复硬约束(新增 soften_init_dl)。dcf2390c1 为治 side-pass\u000a 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\u000a 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\u000a 无代价), 实测逐帧 0.113 -> 0.0137 -> 0.00065。\u000a- kInitDlOutwardMax 的\"向外\"判据改为相对 path_reference_l。原按 init_l 符号判,\u000a 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/\u000a init_dl=0.06), 起点斜率被夹死在 0.05。\u000a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\u000a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。\u000a\u000a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)\u000a- 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\u000a ±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\u000a 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。\u000a- config_local 的 lane_change_weight.dl_weight 20->5000(不在本仓库, 需单独同步)\u000a 压 dl 峰值治\"急\": 峰值 0.42->0.30, 拐点 2->0, 收敛距离 18m->44.5m。\u000a\u000a三、连带修复\u000a- 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\u000a 为 init 值(硬等式), 与 dx 的 box 约束矛盾时 OSQP 直接 primal infeasible, 而变道\u000a 关闭了 all_soft 兜底, 会一路掉到 last_path fallback。\u000a- 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\u000a 往返; 失败自动回退反算。\u000a- PjpoConstraintOptions 序列化补 enable_all_soft_fallback(版本 2->3)。生产置 false\u000a 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。\u000a- 新增离线工具 AnalyzeDlBoundEffect(扫 dl 上限/权重, 打印 opt_dl 曲线与拐点数)与\u000a SidePassOutwardClampRegression(比对新旧向外判据并校验解是否退化)。\u000a\u000a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\u000a旧判据误夹的纠正(车朝走廊中点走却被当成向外漂移)。\u000a", "date" : "2026-07-29 14:56:30 +0800", "id" : "da4be3630541b4f5bdbf9c92a634bdf9edf092ca", "msg" : "fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲", "paths" : [ { "editType" : "edit", "file" : "algorithm/plan/pjpo.hpp" }, { "editType" : "edit", "file" : "data/plan/start_point_data.cpp" }, { "editType" : "edit", "file" : "tasks/deciders/lat_decider/switching_bounds_decider.cpp" }, { "editType" : "edit", "file" : "tasks/plan/pjpo_task.cpp" }, { "editType" : "edit", "file" : "Testing/pjpo_case_test.cpp" }, { 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"hmi/draw/draw_path_boundary.hpp", "hmi/widget/pnc_mat_shared.cpp", "hmi/draw/draw_path_boundary.cpp", "hmi/draw/draw_all.cpp" ], "commitId" : "30cbd506d639839b8df2171d9863099ea9492048", "timestamp" : 1785308450000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: HMI 显示 road boundary 的 shift type\u000a\u000a在 road boundary 左边界点旁标注每段的 shift type, 类型跳变处各标一个,\u000a同类型连续断面不重复标。\u000a\u000a文字画在 cv::flip 之后(flip 前画会上下颠倒), 沿用 DrawReverseApproach\u000a的两段式: Draw 阶段只缓存 UTM 锚点, DrawText 做坐标变换并出字。\u000a", "date" : "2026-07-29 15:00:50 +0800", "id" : "30cbd506d639839b8df2171d9863099ea9492048", "msg" : "feat: HMI 显示 road boundary 的 shift type", "paths" : [ { "editType" : "edit", "file" : "hmi/draw/draw_path_boundary.cpp" }, { "editType" : "edit", "file" : "hmi/widget/pnc_mat_shared.cpp" }, { "editType" : "edit", "file" : "hmi/draw/draw_all.cpp" }, { "editType" : "edit", "file" 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"http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 修正逆向车道防护区域构建\u000a\u000a按 section real_lane_ids 过滤反向生成的重叠车道，统一初始候选和前驱链校验。\u000a\u000a防护区域靠自车侧使用逆向车道左 lane boundary，按自车方向的左侧外沿使用逆向车道右 road boundary，避免正反向 road boundary 重叠造成区域越界。\u000a\u000a冲突区域改为与自车走廊求交，并补充纵向 padding 与去重采样，避免垂直相交时 polygon 退化；同步更新 HMI 边界显示。\u000a", "date" : "2026-07-29 21:59:30 +0800", "id" : "95407a6e3a73566bcde36b509d0f64e176ed2571", "msg" : "fix: 修正逆向车道防护区域构建", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/reverse_lane_approach.cpp" }, { "editType" : "edit", "file" : "hmi/draw/draw_reverse_approach.cpp" }, { "editType" : "edit", "file" : "data/obstacle/reverse_lane_approach.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_safe_const.hpp", "config/config_truck/plan.yaml", "data/config/cfg_safe_const.cpp", "tasks/deciders/long_decider/constrain_decider.hpp", 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