[Jenkins]Jenkins

Changes

Summary

  1. Update push.groovy (details)
  2. Update orinBuild.groovy (details)
  3. Update orin32Choice.groovy (details)
  4. Update orin64Choice.groovy (details)
  5. Update orinModule32Choice.groovy (details)
  6. Update orinModule64Choice.groovy (details)
Commit acfaf55b8f026351550654d33c1576d981793ce9 by weilikang
Update push.groovy
The file was modifiedsrc/org/devops/push.groovy
Commit 3a0584f7b621cd22e85ff1151f10ba6ac6a30555 by weilikang
Update orinBuild.groovy
The file was modifiedsrc/org/orin/orinBuild.groovy
Commit 21a65784c935bc8407930a53102da9a88488acc5 by weilikang
Update orin32Choice.groovy
The file was modifiedsrc/org/orin/orin32Choice.groovy
Commit 00b3fc7598a4fe8a2e4c33b66fc4f4b53b3b7195 by weilikang
Update orin64Choice.groovy
The file was modifiedsrc/org/orin/orin64Choice.groovy
Commit 09220275dd012609e21d58e6ce21c3f7595526e5 by weilikang
Update orinModule32Choice.groovy
The file was modifiedsrc/org/orin/orinModule32Choice.groovy
Commit 6eda9ac8f53c9e9a0fc26d9adfa349d451f80a63 by weilikang
Update orinModule64Choice.groovy
The file was modifiedsrc/org/orin/orinModule64Choice.groovy

Summary

  1. Update hainan-yangpu-submodule.jenkinsfile (details)
  2. Update hainan-yangpu-submodule.jenkinsfile (details)
  3. Update hainan-yangpu-submodule.jenkinsfile (details)
  4. Update map-png.jenkinsfile (details)
  5. Update map-png.jenkinsfile (details)
  6. Update jining-liangshan-submodule.jenkinsfile (details)
  7. Update mizar.jenkinsfile (details)
  8. Update polaris.jenkinsfile (details)
  9. Update tc397_ota.jenkinsfile (details)
  10. Update hdmap-cloud.jenkinsfile (details)
  11. Update map-png.jenkinsfile (details)
Commit 6679a54b539e2e9bf817578be0e609e9f2cc5eef by weilikang
Update hainan-yangpu-submodule.jenkinsfile
The file was modifiedparams/hainan-yangpu-submodule.jenkinsfile
Commit ace95fa4d9c04cbe3cc231e8ac0f13550f816171 by weilikang
Update hainan-yangpu-submodule.jenkinsfile
The file was modifiedparams/hainan-yangpu-submodule.jenkinsfile
Commit 90dfe226bdde2805f4c8a03d39871042a7f8d5ca by weilikang
Update hainan-yangpu-submodule.jenkinsfile
The file was modifiedparams/hainan-yangpu-submodule.jenkinsfile
Commit e78ee5a559b464183bec0ef7adfc914f43a6a455 by weilikang
Update map-png.jenkinsfile
The file was modifiedhdmap/map-png.jenkinsfile
Commit 42ffaf63e8a66064e00ec93f8cd79a2504507535 by weilikang
Update map-png.jenkinsfile
The file was modifiedhdmap/map-png.jenkinsfile
Commit fabbbb955d2e428c2af2e5fe30bd9f94a151827d by weilikang
Update jining-liangshan-submodule.jenkinsfile
The file was modifiedparams/jining-liangshan-submodule.jenkinsfile
Commit 20cf9b543635e9f87bbe16685bb9d6f4f06c9f92 by weilikang
Update mizar.jenkinsfile
The file was modifiedhardware/mizar.jenkinsfile
Commit 9df77fead0f3ed7d3debc9faadc8e54b0e0ba13b by weilikang
Update polaris.jenkinsfile
The file was modifiedhardware/polaris.jenkinsfile
Commit 01bce7d15ff85890aafd509a99270dabc1206b50 by weilikang
Update tc397_ota.jenkinsfile
The file was modifiedhardware/tc397_ota.jenkinsfile
Commit aa9e09286014137966e69d6f3434fa2509faa446 by weilikang
Update hdmap-cloud.jenkinsfile
The file was modifiedhdmap/hdmap-cloud.jenkinsfile
Commit 5a88a9b6a5620171ede7924afb9741e9279e6bc9 by weilikang
Update map-png.jenkinsfile
The file was modifiedhdmap/map-png.jenkinsfile

Summary

  1. fix: 远程单次直线步进END后不退出循环重回MOVE (details)
  2. fix: park子状态机收普通任务卡死PARK_MOVE无法退出 (details)
  3. chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 (details)
  4. fix: Keb: 修复IMV重规划时起点曲率异常的问题 (details)
  5. fix: 修正纵向轨迹基础计算边界 (details)
  6. feat: 增强纵向碰撞连续扫掠 (details)
  7. fix: 统一纵向停车规划与限速约束 (details)
  8. feat: 增加 Lattice 停车诊断界面 (details)
  9. feat:s弯下码头面不搜索的bug (details)
  10. fix: 防止终点制动阶段重新提速 (details)
  11. fix: 支持停车终点释放后的低速前移 (details)
  12. fix: 修正短距停车前移速度 (details)
  13. fix: 隔离停车目标跨帧状态 (details)
  14. fix: 修正双头 IMV 直线步进方向 (details)
  15. fix: 修复纵向停车限速恢复与无解兜底 (details)
  16. feat: 引导线绘制车道 ID (details)
  17. feat: 支持短直道路口连续搜索 (details)
  18. perf: 缩小版本宏的编译影响范围 (details)
  19. fix: 修复相邻道路逆向车误触发窄会车 (details)
  20. doc: SSEP: 补充搜索模块相关的注释和文档 (details)
  21. fix: 防止 Lattice 轨迹合成陷入死循环 (details)
  22. feat: 统一无ID聚类障碍运动跟踪 (details)
  23. fix: 序列化直道路口边界开关 (details)
  24. fix: 修复进堆场规划器头文件引用路径 (details)
  25. fix: 调整散货出场禁横移区域判定 (details)
  26. fix: 调整散货出场禁横移区域判定 (details)
  27. feat: 散货进场末段切换 PJPO 规划 (details)
  28. fix: 增强 SSEP 目标路径有效性校验 (details)
  29. feat: 振石进场按参考线构造搜索起点 (details)
  30. feat: 散货进场末段切换 PJPO 规划 (details)
  31. fix: 增强 SSEP 目标路径有效性校验 (details)
  32. feat: 振石进场按参考线构造搜索起点 (details)
  33. doc: SSEP: 增加keb optimizer及离线工具的说明文档 (details)
  34. fix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题 (details)
  35. fix: 修复 Lattice 制动恢复与硬限速约束 (details)
  36. docs: 记录纵向规划连续性规则 (details)
  37. fix: 平滑普通硬限速恢复制动 (details)
  38. fix: 平滑前方普通硬限速制动 (details)
  39. fix: 降低锁站缩距区域限速 (details)
  40. doc: SSEP:  补充ssep子模块的整体说明文档 (details)
  41. fix: 增强 routing 地图转换边界保护 (details)
  42. feat: 基于 SSEP 包络优化 Bulk 场景判断 (details)
  43. fix: 修复 SSEP 重叠路径切段失败 (details)
  44. fix: 修复侧绕历史路径失效触发无轨迹停车 (details)
  45. fix: 调整梁山港 Bulk 场景规划模式 (details)
  46. chore: SSEP: 单段倒车时不使用倒车曲率限制策略 (details)
  47. fix: 细分梁山港 Bulk 场景规划模式 (details)
Commit ed2c1d8a2e9893510e2680bcfed62c70ff1dd41f by wuyanjun110
fix: 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.
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit c0b886c3483f4c06631a38fffa6952e98b606405 by wuyanjun110
fix: 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
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit bced6f6d483813906b1a3fd2308a7a4835c657ab by tangwenqing
chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit fc6eb0868971fc680840de071580930fd7143f99 by tangwenqing
fix: Keb: 修复IMV重规划时起点曲率异常的问题

The file was modifiedssep/data_structures/path.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
Commit bc74bb89bd349452152f3e327b06384e849a8322 by wuyanjun110
fix: 修正纵向轨迹基础计算边界

修正轨迹点投影的绝对 s 计算、可行域减速边界和加速段距离公式。

补齐终点采样，允许数值稳定的微小时长 jerk 段，并实现 PiecewiseJerkTraj 深拷贝。
The file was modifieddata/lattice/trajectory_combiner.cpp
The file was modifieddata/common/trajectory_point.cpp
The file was modifieddata/lattice/piecewise_traj_generator.cpp
The file was modifieddata/lattice/feasible_region.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_traj.cpp
The file was modifieddata/lattice/feasible_region.hpp
The file was modifiedmath/piecewise_jerk/constant_jerk_traj.cpp
Commit 6adf47332ad16566b6d51f2c4043c4656bd60800 by wuyanjun110
feat: 增强纵向碰撞连续扫掠

按时间和空间双阈值补齐轨迹点间的连续碰撞检测，并统一牵引车与挂车扫掠轨迹。

细化 OGM 首碰位置，修正碰撞距离重复扣除 ego s 的问题。
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifiedcommon/util/crash_helper.cpp
The file was addeddata/lattice/collision_sweep.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/lattice/collision_checker.cpp
The file was modifiedcommon/util/crash_helper.hpp
Commit 7d80498d997025a130ff2e2dcf8b5e592ef202df by wuyanjun110
fix: 统一纵向停车规划与限速约束

建立统一停车上下文与运行状态，明确普通规划继承规划曲线起点、FSM 安全制动继承车辆反馈。

将严格停车改为 jerk 受限的多候选采样并支持上一条安全曲线续接，统一零速硬约束、动态限速和碰撞检查。

压缩停车诊断序列化，在回放端重建可派生数据，并补齐停车、重入、重载、限速及连续扫掠回归测试。
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/constrain/longitude_constrain.hpp
The file was addeddata/lattice/lattice_debug_data.hpp
The file was addeddata/lattice/stop_planning_context.hpp
The file was addeddata/lattice/longitudinal_comfort.hpp
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifiedtasks/plan/lattice_task.cpp
The file was modifieddata/lattice/condition_sampler.hpp
The file was modifieddata/constrain/speed_hard_constrain.cpp
The file was addeddata/lattice/jerk_limited_stop.hpp
The file was modifieddata/lattice/lattice_trajectory1d.cpp
The file was modifieddata/lattice/trajectory1d_generator.hpp
The file was modifieddata/lattice/lattice_trajectory1d.hpp
The file was modifieddata/constrain/long_target.cpp
The file was modifieddata/lattice/constraint_checker.cpp
The file was modifiedtasks/plan/lattice_task.hpp
The file was addedTesting/jerk_limited_stop_test.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was addeddata/lattice/stop_profile_planner.hpp
The file was modifieddata/lattice/trajectory_evaluator.hpp
The file was modifieddata/lattice/condition_sampler.cpp
The file was addeddata/lattice/longitudinal_curve_validator.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/lattice/trajectory_combiner.cpp
The file was modifiedCMakeLists.txt
The file was addeddata/lattice/fsm_safety_brake.hpp
The file was modifieddata/lattice/trajectory1d_generator.cpp
The file was modifieddata/lattice/constraint_checker.hpp
The file was modifieddata/lattice/trajectory_combiner.hpp
The file was modifieddata/lattice/path_time_graph.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/constrain/speed_hard_constrain.hpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/plan_frame.cpp
The file was modifieddata/constrain/long_target.hpp
The file was modifiedalgorithm/plan/lattice.cpp
The file was modifieddata/plan_frame.hpp
Commit c0d77e9213506a73bc9d1ff584242d1f491626fd by wuyanjun110
feat: 增加 Lattice 停车诊断界面

增加候选轨迹、ST、s-v、t-a 和停车时序视图，展示停车上下文、候选筛选及失败原因。

接入在线 HMI 与回放 HMI，共用压缩后的诊断数据并支持回放重建结果展示。
The file was modifiedhmi/node_hmi.hpp
The file was modifiedhmi/replayer_hmi.hpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was addedhmi/widget/lattice_plan_detail.cpp
The file was addedhmi/widget/lattice_plan_detail.hpp
Commit a3bbf6a8c9ec3bac13e512160e03f379d048de68 by wuyanjun110
feat:s弯下码头面不搜索的bug
The file was modifieddata/scenario/scenario_manager.cpp
Commit 253af5e4cbbd47c5124c7fe4b7e8383032b5915f by wuyanjun110
fix: 防止终点制动阶段重新提速

- 在同一停车约束内跨帧锁存正常规划制动承诺
- 统一收紧停车候选、参考速度和历史续接的加速度约束
- 补充高速近终点重加速及状态清理、序列化回归测试
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/lattice/trajectory1d_generator.cpp
The file was modifieddata/lattice/trajectory_evaluator.hpp
The file was modifieddata/lattice/stop_planning_context.hpp
The file was modifieddata/constrain/long_target.cpp
The file was modifieddata/lattice/longitudinal_curve_validator.hpp
The file was modifiedTesting/jerk_limited_stop_test.cpp
Commit bd877bb416411869d616e0ecb6d5005a83208e06 by wuyanjun110
fix: 支持停车终点释放后的低速前移

统一为所有硬速度约束保留 0.5 km/h 容差，同时继续严格限制停车终点的空间边界。

在停车未激活但硬终点仍有效时采样精确收敛到终点的低速五次曲线，解决动态跟车距离缩短后车辆无法继续前移的问题，并补充容差与候选生成测试。
The file was modifiedalgorithm/plan/lattice.cpp
The file was modifieddata/lattice/trajectory1d_generator.cpp
The file was modifieddata/lattice/trajectory1d_generator.hpp
The file was modifiedTesting/jerk_limited_stop_test.cpp
The file was modifieddata/lattice/longitudinal_curve_validator.hpp
Commit e99242fdc655541b05965f803b0dadc19b6eaf76 by wuyanjun110
fix: 修正短距停车前移速度

按剩余距离和舒适动力学搜索最高可行巡航峰值，并同步候选曲线与参考曲线。

保留 0.5 km/h 仅作为硬限速容差，移除其对前移速度的误用；在终点匹配范围内从继承位置生成零速保持，消除厘米级残差规划失败。
The file was modifieddata/lattice/longitudinal_curve_validator.hpp
The file was modifieddata/lattice/stop_profile_planner.hpp
The file was modifieddata/lattice/trajectory1d_generator.cpp
The file was modifiedTesting/jerk_limited_stop_test.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifieddata/lattice/trajectory1d_generator.hpp
Commit 2c20fda83ae5d384e18c5474fb9fb100a50efd5b by wuyanjun110
fix: 隔离停车目标跨帧状态

严格校验约束 ID 与投影后停车终点连续性，防止新终点继承旧目标的制动承诺、安全曲线和 OGM hold。补充空 ID、同 ID 跳变、失活目标和 FSM 重入回归测试。
The file was modifieddata/constrain/long_target.cpp
The file was modifieddata/lattice/stop_planning_context.hpp
The file was modifiedTesting/jerk_limited_stop_test.cpp
Commit 331648018ddaf341fb953981c0d6b403c93a3454 by wuyanjun110
fix: 修正双头 IMV 直线步进方向

双头 IMV 在反向形式下默认保持固定车身方向，不再无条件按 reversing_mode 翻转步进距离。\n\n新增功能开关以兼容需要沿用旧方向定义的车辆，并支持配置动态更新及序列化。
The file was modifiedsink/ros_sink_ctrl_reference.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit 400111028f6748229d9152d2a43aa25416a19be5 by wuyanjun110
fix: 修复纵向停车限速恢复与无解兜底

去除跨帧制动速度锁存，改为根据当前停车距离和动力学状态决定是否立即制动。

区分当前位置与前方硬限速，为前方低限速生成满足物理恢复包络和终点停车条件的候选。

正常规划无解时输出限 jerk 的最大减速兜底轨迹，并在后续周期持续重试正常规划以便恢复行驶。

补充硬限速、短距停车、制动恢复和现场回归测试。
The file was modifieddata/lattice/trajectory1d_generator.cpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
The file was modifiedtasks/plan/lattice_task.hpp
The file was modifieddata/constrain/long_target.cpp
The file was modifiedtasks/plan/lattice_task.cpp
The file was modifieddata/lattice/stop_profile_planner.hpp
The file was modifiedTesting/jerk_limited_stop_test.cpp
The file was modifieddata/lattice/trajectory_evaluator.hpp
The file was modifieddata/lattice/stop_planning_context.hpp
The file was modifieddata/lattice/longitudinal_curve_validator.hpp
The file was modifieddata/lattice/trajectory1d_generator.hpp
Commit 85803e4342f42a1dabde51fdd671b1b01d8a0c27 by wuyanjun110
feat: 引导线绘制车道 ID

在每段连续车道的中点标注 lane ID，并根据视图缩放调整字号。\n跳过空 ID 和无效路径索引，避免重复文字与越界访问。
The file was modifiedhmi/draw/draw_guide_line.cpp
Commit 8b97531af95c81a24e87f179322254432f99a328 by wuyanjun110
feat: 支持短直道路口连续搜索

抽取短直道连接下一路口的公共判定逻辑，并在引桥搜索中将终点延伸至下一路口 end_s。

新增默认关闭的 SSEP 功能开关，统一控制引桥、出堆场及后续场景的启用行为，同时支持动态更新与快照序列化。
The file was modifieddata/ssep/ssep_util.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/ssep/ssep_util.hpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit fbd07404195d337fb8ea566b2261e47ca3f66083 by wuyanjun110
perf: 缩小版本宏的编译影响范围

将 VERSION_NODE、COMMIT_NODE 和 NODE_MSG_VERSION 从全局定义调整为仅作用于实际读取版本信息的 5 个源文件。

避免每次提交变化都改写全部编译命令并触发全量重编，使其余编译单元能够跨提交复用 ccache，同时保留程序版本信息。
The file was modifiedCMakeLists.txt
Commit 7d622f8768f9f782c479b0c122662a706e95aac0 by wuyanjun110
fix: 修复相邻道路逆向车误触发窄会车

窄会车净空计算前过滤完全位于最右可行边界之外的障碍断面，避免负净空将相邻平行道路车辆误判为极窄会车。\n\n障碍跨越可行边界时仍按零净空保守处理，并补充 outside_right 诊断计数。
The file was modifieddata/boundary/driving_corridor.cpp
Commit bc8a0f42965a27f6aa0896d9d5886b20e27fe867 by tangwenqing
doc: SSEP: 补充搜索模块相关的注释和文档

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/evaluator/diagonal_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
The file was addedssep/coarse_search/searcher_builders/README.md
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was addedssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.cc
The file was removedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
The file was addedssep/coarse_search/README.md
The file was modifiedssep/coarse_search/evaluator/jackknife_cost_computer.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.h
The file was addedssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.h
The file was addedssep/coarse_search/motion_primitive_sampler/README.md
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was removedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/evaluator/composite_heuristic_computer.h
The file was modifiedssep/coarse_search/evaluator/dir_switching_cost_computer.h
The file was addedssep/coarse_search/evaluator/README.md
Commit 6d05474cd9f0ee8883398f6c28547cc895e25944 by wuyanjun110
fix: 防止 Lattice 轨迹合成陷入死循环

将轨迹合成的无界浮点循环改为整数索引有界采样，并拒绝非法采样步长、非有限时域和异常大的采样规模。\n\n补充制动曲线时长校验、Lattice 阶段 watchdog 定位及零步长、无限时域和超大时域回归测试。
The file was modifiedTesting/jerk_limited_stop_test.cpp
The file was modifieddata/lattice/trajectory_combiner.cpp
The file was modifiedtasks/plan/lattice_task.cpp
The file was modifiedalgorithm/plan/lattice.cpp
Commit ade631dc8ca8ab07b65b63d37dba305c6708c638 by wuyanjun110
feat: 统一无ID聚类障碍运动跟踪

新增内部稳定航迹，统一维护聚类 polygon、UTM 速度、命中丢失和运动状态，并处理普通目标与聚类之间的短时交接及分裂伴随片段。\n\nReverseApproach 改为消费统一航迹并仅保留停止线 latch；普通横向侵入改用统一速度计算 TTC，移除旧 OccupyGrid 边界差分限速。DrivingCorridor 仅在侧避栅格屏蔽确认移动聚类的 polygon 扫掠区域，保留纵向原始 OGM 安全约束。\n\n补充 PlanFrame/HMI 诊断与回放冻结数据，统一 Replayer 的 OGM 输入，并序列化新增横向 TTC 参数。
The file was modifiedhmi/draw/draw_reverse_approach.cpp
The file was modifiedhmi/ui/ui_main_window.hpp
The file was modifiedhmi/ui/main_window.ui
The file was modifiedhmi/draw/draw_perception.hpp
The file was removeddata/obstacle/occupy_grid.cpp
The file was modifiedhmi/node_hmi.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was addeddata/obstacle/cluster_motion_tracker.cpp
The file was addeddata/obstacle/cluster_motion_tracker.hpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifieddata/boundary/driving_corridor.hpp
The file was modifieddata/plan_frame.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was addeddata/obstacle/cluster_lateral_approach.hpp
The file was removeddata/obstacle/occupy_grid.hpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_hmi.cpp
The file was modifieddata/obstacle/reverse_lane_approach.cpp
The file was modifiedhmi/widget/pnc_mat_shared.cpp
The file was modifieddata/config/cfg_hmi.hpp
The file was modifiedhmi/draw/draw_all.cpp
The file was modifieddata/plan_frame.hpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedCMakeLists.txt
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedsink/ros_sink_snapshot.cpp
The file was addeddata/obstacle/cluster_lateral_approach.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
The file was modifieddata/obstacle/reverse_lane_approach.hpp
Commit 880c647f4d3ee00bfe66315eec6b28278dccb715 by wuyanjun110
fix: 序列化直道路口边界开关

将 use_func_straight_junction_use_road_boundary_ 纳入 CfgFuncSw v19 快照，确保 PNC Node 与 Replayer 使用同帧开关生成 RoadBoundary。
The file was modifieddata/config/cfg_func_sw.hpp
Commit f4a230bfa3e99386c715ba81040f0e2da5f45c7a by wuyanjun110
fix: 修复进堆场规划器头文件引用路径

更新 YardEntryReferencePathGenerator 重构后的头文件目录，解决 ssep_planner 编译时找不到头文件的问题。
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 97f8c35707a10febe88e11f4bf9e964c36b4d2f7 by wuyanjun110
fix: 调整散货出场禁横移区域判定

使用任务 FSM 的 TRAVEL_OUT 子状态判断太阳纸业散货出场阶段，避免流控状态与实际任务阶段不一致。

补充振石散货场景在最后一段 SSEP 路径上的横移放行逻辑。
The file was modifieddata/boundary/road_boundary.cpp
Commit 92ec18ef9528acb21394f9687294695be642af6a by wuyanjun110
fix: 调整散货出场禁横移区域判定

使用任务 FSM 的 TRAVEL_OUT 子状态判断太阳纸业散货出场阶段，避免流控状态与实际任务阶段不一致。

补充振石散货场景在最后一段 SSEP 路径上的横移放行逻辑。
The file was modifieddata/boundary/road_boundary.cpp
Commit 6cbaaef29834453c80f18d5de20c08e997660c6c by wuyanjun110
feat: 散货进场末段切换 PJPO 规划

新增 bulk in 最后一段 SSEP 路径条件，并在散货前向阶段支持横向规划器选择器。命中条件时同步选择 PJPO 任务及 active lateral planner，保证 HMI 展示与实际规划器一致。
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedscenarios/task_condition_evaluator.hpp
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
Commit f08e65f3559f0592f75179239a476e785d4d17e2 by wuyanjun110
fix: 增强 SSEP 目标路径有效性校验

引导线构造与路径拼接前统一使用 Path::IsAvailable 校验 SSEP 目标路径。路径点不足时回退历史引导线，避免继续访问 front、back 或执行坐标转换。
The file was modifieddata/plan/guide_line.cpp
Commit 8542f5fb31cb13be6645b7ad2fef683dd2ea7ae0 by wuyanjun110
feat: 振石进场按参考线构造搜索起点

振石 bulk in 场景复用前港的动态搜索起点计算，根据车辆速度和目标点在参考线上的位置选择前向搜索起点。
The file was modifieddata/ssep/forward_ec.cpp
Commit 08b5a4d8bc6d8ce57da4b1c4b73fbb39ae897f84 by wuyanjun110
feat: 散货进场末段切换 PJPO 规划

新增 bulk in 最后一段 SSEP 路径条件，并在散货前向阶段支持横向规划器选择器。命中条件时同步选择 PJPO 任务及 active lateral planner，保证 HMI 展示与实际规划器一致。
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedscenarios/task_condition_evaluator.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifieddata/config/cfg_stage.cpp
Commit ee1806d7ac6d14c1e6ae396c22ff2c1a465227b6 by wuyanjun110
fix: 增强 SSEP 目标路径有效性校验

引导线构造与路径拼接前统一使用 Path::IsAvailable 校验 SSEP 目标路径。路径点不足时回退历史引导线，避免继续访问 front、back 或执行坐标转换。
The file was modifieddata/plan/guide_line.cpp
Commit a19a44b5976756bef5c6ba34d485470995d3d167 by wuyanjun110
feat: 振石进场按参考线构造搜索起点

振石 bulk in 场景复用前港的动态搜索起点计算，根据车辆速度和目标点在参考线上的位置选择前向搜索起点。
The file was modifieddata/ssep/forward_ec.cpp
Commit 75ad18901f026164b12f30f4328d3d7ad9782e15 by tangwenqing
doc: SSEP: 增加keb optimizer及离线工具的说明文档

The file was addedssep/offboard/scene_replay/README.md
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/keb_optimizer/README.md
Commit eee3ac87e6210b49e7360eabede326d100ac52cd by tangwenqing
fix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cc
Commit b2ba1ece6230c0eae9696e682be9f6549feb3235 by wuyanjun110
fix: 修复 Lattice 制动恢复与硬限速约束

正常规划从制动兜底恢复时仅清除继承的负加速度，并在再次无解时续接上一条制动曲线，避免低速锁存和连续制动弱化。

统一 FSM 安全制动的规划拼接起点，完善 stop 轨迹标志生命周期和短路径截断兜底；同时按约束来源区分 0.5 km/h 硬限速容差，停车及障碍物约束保持严格。

补充制动切换、恢复重试、短路径和分类限速回归测试。
The file was modifieddata/constrain/speed_hard_constrain.cpp
The file was modifieddata/lattice/fsm_safety_brake.hpp
The file was modifieddata/plan/start_point_data.hpp
The file was modifieddata/lattice/trajectory1d_generator.cpp
The file was addeddata/lattice/brake_trajectory_policy.hpp
The file was modifiedtasks/plan/lattice_task.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/lattice/longitudinal_curve_validator.hpp
The file was modifieddata/constrain/speed_hard_constrain.hpp
The file was modifiedtasks/plan/lattice_task.hpp
The file was modifieddata/lattice/constraint_checker.cpp
The file was modifiedalgorithm/plan/lattice.cpp
The file was modifiedTesting/jerk_limited_stop_test.cpp
The file was modifieddata/constrain/longitude_constrain.hpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/lattice/trajectory1d_generator.hpp
Commit f19373f892fa4ab5c7ac7c99b67f14e0b71c0384 by wuyanjun110
docs: 记录纵向规划连续性规则

明确正常规划、安全制动和兜底轨迹之间的起点继承、状态切换及标志生命周期要求，避免后续改动重新引入速度跳变或低速锁存。
The file was addedAGENTS.md
Commit 64709981e692d4549692f89cd0b5dccb76d53a1b by wuyanjun110
fix: 平滑普通硬限速恢复制动

普通地图、曲率和 REQ 限速按正常减速度恢复，并继承已有负加速度。\n\n前方限速、障碍物及停车约束仍保留最大制动能力，避免削弱 ST 与终点停车安全边界。\n\n增加限速切换及现场停车失败帧的回归测试。
The file was modifieddata/lattice/longitudinal_curve_validator.hpp
The file was modifieddata/lattice/trajectory1d_generator.hpp
The file was modifieddata/lattice/trajectory1d_generator.cpp
The file was modifiedTesting/jerk_limited_stop_test.cpp
The file was modifieddata/lattice/stop_profile_planner.hpp
The file was modifieddata/lattice/constraint_checker.cpp
Commit 5a83a984799e41acd81745069bff5a497cd9f147 by wuyanjun110
fix: 平滑前方普通硬限速制动

- 普通限速按边界距离选择最小可达减速度，距离充足时使用正常或继承值
- 严格安全来源继续使用最大减速度，停车阶段保留独立最大制动上限
- 补充 12.49 km/h 降至 8 km/h 现场参数及紧边界回归
The file was modifiedTesting/jerk_limited_stop_test.cpp
The file was modifieddata/lattice/longitudinal_curve_validator.hpp
The file was modifieddata/lattice/trajectory1d_generator.cpp
Commit d3cf8222bc28bbc3ff3badbcaada886375ba3bde by wuyanjun110
fix: 降低锁站缩距区域限速

进入缩短跟车距离区域时，在锁站基础限速上额外降低 0.3 m/s，减小该区域内的跟车速度。
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 1c57c822633652991975431220e3e619b2593b7e by tangwenqing
doc: SSEP:  补充ssep子模块的整体说明文档

The file was addedssep/README.md
Commit 95b5e370255175e817d97b238fe122a0744da3a3 by wuyanjun110
fix: 增强 routing 地图转换边界保护

校验车辆路由索引和各类 RoadSegments 的 route_path_idx，避免无效快照触发越界访问。\n\n修正 standby relative segments 访问与清理逻辑，避免接收新路由时同帧重复推进状态，并为在线与 replayer 地图恢复补充失败返回和回归测试。
The file was modifieddata/map/pnc_map/pnc_map.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was addedTesting/routing_map_guard_test.cpp
The file was modifieddata/vehicle/request_routing_data.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifiedCMakeLists.txt
The file was modifiedplan/prepare/prepare_map_related.cpp
Commit 40012dbc845dd0a872f44709638fee5aabd77c40 by wuyanjun110
feat: 基于 SSEP 包络优化 Bulk 场景判断

按搜索路径与换向段构建 SSEP 包络，统一 BulkIn/BulkOut 互斥判断，并支持双向 IMV 倒车航向、入口临界区域和往返路径切段防抖。\n\n序列化 FlowControl、包络用途及保换向拓扑的压缩路径，使 replayer 可稳定恢复诊断与绘制数据；同时增加原地 BulkOut 重规划时间门限和完整归档回归测试。
The file was modifieddata/other/flow_control.hpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedssep/data_structures/type_definition.h
The file was addedTesting/ssep_path_corridor_test.cpp
The file was addeddata/other/ssep_path_corridor.cpp
The file was modifieddata/plan_frame.cpp
The file was modifiedssep/data_structures/type_definition.cc
The file was modifiedCMakeLists.txt
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was modifieddata/plan_frame.hpp
The file was modifiedhmi/draw/draw_ssep.hpp
The file was modifiedhmi/widget/pnc_mat_shared.cpp
The file was addeddata/other/ssep_path_corridor.hpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifiedhmi/draw/draw_all.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit f397d968ee7f58975957d69ac4b5c66426f635fc by wuyanjun110
fix: 修复 SSEP 重叠路径切段失败

切段判断改为直接校验当前分段真实末点的位置和航向，避免往返路径在同坐标重叠处被最近点投影到较早路段。\n\n保留双向 IMV reversing_mode 的航向还原，并补充自重叠路径及反转航向回归测试。
The file was modifiedTesting/ssep_path_corridor_test.cpp
The file was modifieddata/other/ssep_path_corridor.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/other/ssep_path_corridor.hpp
Commit b40a051be1d4d997c4ac998b331ffa5aab3285c7 by wuyanjun110
fix: 修复侧绕历史路径失效触发无轨迹停车

DP 搜索截断时保留当前安全前缀和既有侧绕决策，历史路径校验失败后恢复语义状态，不再使侧绕任务直接失败。\n\n历史路径仅复用当前执行区间内且通过方向、参考线和走廊校验的点；最终执行路径真实余量接入纵向既有无轨迹安全判断，由纵向决定停车时机。
The file was modifieddata/dp_poly_path/dp_road_graph.cpp
The file was modifieddata/dp_poly_path/dp_road_graph.hpp
The file was modifieddata/plan/side_pass_data.cpp
The file was modifiedtasks/deciders/lat_decider/side_pass_decider.cpp
The file was modifieddata/plan/side_pass_data.hpp
The file was modifiedtasks/deciders/lat_decider/trailer_side_pass_decider.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 7f8053951a09f4c2392360fc64ac0df62077edd7 by wuyanjun110
fix: 调整梁山港 Bulk 场景规划模式

将梁山港牵引车 Bulk 进出场景从通用规划切换为单段泊车规划，匹配现场作业路径需求。
The file was modifieddata/ssep/forward_ec.cpp
Commit f78699e31acb37f35df22035469c20df064c0e47 by tangwenqing
chore: SSEP: 单段倒车时不使用倒车曲率限制策略

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
Commit 032be6f7acb9c1628fd51bd7d3b052e96430bbd2 by wuyanjun110
fix: 细分梁山港 Bulk 场景规划模式

梁山港 Bulk 进场去料堆任务继续使用单段泊车规划，其余 Bulk 进出任务恢复使用通用牵引车规划，避免所有任务统一套用泊车模式。
The file was modifieddata/ssep/forward_ec.cpp