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Summary

  1. Update map-png.jenkinsfile (details)
Commit 9c4de6b2a573885d875644171891cb3f5cfb224f by weilikang
Update map-png.jenkinsfile
The file was modifiedhdmap/map-png.jenkinsfile

Summary

  1. 场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 (details)
  2. BTActRunPlanner: 进入海侧路口区域时退出常规 planner (details)
  3. fix: disable wbca during esdf_map = nullptr (details)
  4. fix: unexpected route inverval (details)
  5. feat: SSEP: 调整集卡多段倒车拉直逻辑 (details)
  6. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
  7. refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks (details)
  8. 桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 (details)
  9. fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题 (details)
Commit 682605ae5942205627501f18eef3ba732dd2ee3c by wuyanjun110
场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判

- U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE)
- 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/scenario/scenario_region_bt.cpp
Commit d34f7fb6b1983910d947ca2f83ee585ab76f2447 by wuyanjun110
BTActRunPlanner: 进入海侧路口区域时退出常规 planner
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit 41cc53088e5d158cc575af869afd1cc111c22720 by chenran
fix: disable wbca during esdf_map = nullptr
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit d39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf3 by chenran
fix: unexpected route inverval
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 21a0e06624f66dc6703d77bd676c5703caf4fc77 by tangwenqing
feat: SSEP: 调整集卡多段倒车拉直逻辑

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit a0b56a44d0f53a5e1b9edc91b6f6b3dc43448b84 by wuyanjun110
桥区重规划: 上桥切下桥触发重规划并重置搜索状态

- ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划
- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态
- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedtasks/deciders/search_decider/bridge_junction_search_decider.cpp
Commit 1b62851c5b8b3657e8f36f0a6907e07d57a6b74b by wuyanjun110
refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks

任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类;
其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行,
以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/lane_change_scenario/lane_change_cancel_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_move_stage.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_preapre_stage.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_lane_change_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_prepare_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_prepare_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_stage.cpp
Commit c990680486ac0315a6dc372a54824e66f9cf4b7a by wuyanjun110
桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索

ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false,
改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_,
日志同步改为 search from ego pose
The file was modifieddata/ssep/bridge_junction_ec.cpp
Commit 4d3241f90aeda494cce7064f1ee3afdfa6991103 by tangwenqing
fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题

The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp