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"211ee4a470c1d5d83dafe07ea65bb65fef432a7d", "msg" : "fix: 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", "paths" : [ { "editType" : "edit", "file" : "data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "plan/prepare/prepare_ogm.cpp", "plan/prepare/prepare_ogm.hpp" ], "commitId" : "037d24ad730656b6b84ce85ecd9ff179d1e6286f", "timestamp" : 1784186346000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "perf: OGM精细碰撞采样点分级去重, 控制序列化体积\u000a\u000a精细碰撞开启时采样点不再全量保留:\u000a- 引导线路径带(半径12m, 1m粗块掩码)内按1/4 cell子格去重,\u000a 位置误差上界约3.5cm, 每cell至多16点\u000a- 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)\u000a- 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\u000a- 顺手收拢龙须/上下层四处重复写入分支为AddPoint\u000a", "date" : "2026-07-16 15:19:06 +0800", "id" : "037d24ad730656b6b84ce85ecd9ff179d1e6286f", "msg" : "perf: OGM精细碰撞采样点分级去重, 控制序列化体积", "paths" : [ { "editType" : "edit", "file" : "plan/prepare/prepare_ogm.cpp" }, { "editType" : "edit", "file" : "plan/prepare/prepare_ogm.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/vehicle/lock_station_data.cpp" ], "commitId" : "50a557ba5ed0e80690bfb2284a4aed695e47745e", "timestamp" : 1784186360000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 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\u000a", "date" : "2026-07-16 15:19:20 +0800", "id" : "50a557ba5ed0e80690bfb2284a4aed695e47745e", "msg" : "fix: 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", "paths" : [ { "editType" : "edit", "file" : "data/vehicle/lock_station_data.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/map/envelop/map_envelops.cpp" ], "commitId" : "c3d8a6c116c0a9e8f4ff69bf5904033acab647a1", "timestamp" : 1784197676000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留\u000a\u000a- CreateUnionRegion恢复std::async异步, polygons改move捕获少一份拷贝\u000a- latch结果消费一次即move取走并shrink_to_fit释放, 不再常驻AsyncUnionRegionState\u000a- 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\u000a", "date" : "2026-07-16 18:27:56 +0800", "id" : "c3d8a6c116c0a9e8f4ff69bf5904033acab647a1", "msg" : "fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留", "paths" : [ { "editType" : "edit", "file" : "data/map/envelop/map_envelops.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "replayer/logic.cpp" ], "commitId" : "d749b4221ec4750bc1d19a2308f5c31730545b71", "timestamp" : 1784200418000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "perf: 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\u000a", "date" : "2026-07-16 19:13:38 +0800", "id" : "d749b4221ec4750bc1d19a2308f5c31730545b71", "msg" : "perf: 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", "paths" : [ { "editType" : "edit", "file" : "replayer/logic.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "plan/prepare/prepare_status.hpp", "plan/prepare/prepare_status.cpp", "data/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp" ], "commitId" : "46f793d6f300e33aa0d19b0a6c518d26f886bfd1", "timestamp" : 1784260934000, "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 12:02:14 +0800", "id" : "46f793d6f300e33aa0d19b0a6c518d26f886bfd1", "msg" : "fix: 远程单次直线步进END后不退出循环重回MOVE", "paths" : [ { "editType" : "edit", "file" : "plan/prepare/prepare_status.cpp" }, { "editType" : "edit", "file" : "plan/prepare/prepare_status.hpp" }, { "editType" : "edit", "file" : "data/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "tasks/deciders/lat_decider/trailer_side_pass_decider.cpp", "data/config/cfg_lat_plan.hpp", "replayer/replayer_data_process/replayer_data_process.cpp", "data/boundary/driving_corridor.cpp", "data/config/cfg_lat_plan.cpp", "tasks/deciders/lat_decider/path_bounds_decider.cpp", "tasks/deciders/lat_decider/trailer_path_bounds_decider.cpp", "tasks/deciders/lat_decider/side_pass_decider.cpp", "data/boundary/driving_corridor.hpp" ], "commitId" : "74b035a35b095b2e5650e2eb298b03fd8d46b143", "timestamp" : 1784261160000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 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\u000a\u000a- 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),\u000a 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;\u000a 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);\u000a DP无路径降级帧不内缩, 保持原始边界\u000a- 新增raw_path_bound(未内缩原始端点): path_bounds/trailer_path_bounds_decider的\u000a 区域相等性判定(bound==shift宽)改读raw, 防内缩翻转is_in_obstacle_region分支\u000a- cfg_lat_plan新增6个corridor_buffer_*参数(rosparam, 序列化v5), 类内初始化0兜底\u000a 老dump反序列化(v<5跳过字段落0=不内缩=复现老行为)\u000a- BuildGaps拆出BuildGapAt(单gap构建), 免每断面整表分类; 挂车半宽提TrailerAwareHalfWidths\u000a 与GetSpeedLimitsAndDistances共用\u000a", "date" : "2026-07-17 12:06:00 +0800", "id" : "74b035a35b095b2e5650e2eb298b03fd8d46b143", "msg" : "feat: 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", "paths" : [ { "editType" : "edit", "file" : "tasks/deciders/lat_decider/trailer_side_pass_decider.cpp" }, { "editType" : "edit", "file" : "data/config/cfg_lat_plan.cpp" }, { "editType" : "edit", "file" : "data/config/cfg_lat_plan.hpp" }, { "editType" : "edit", "file" : "tasks/deciders/lat_decider/path_bounds_decider.cpp" }, { "editType" : "edit", "file" : "replayer/replayer_data_process/replayer_data_process.cpp" }, { "editType" : "edit", "file" : "tasks/deciders/lat_decider/trailer_path_bounds_decider.cpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.hpp" }, { "editType" : "edit", "file" : "tasks/deciders/lat_decider/side_pass_decider.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp", "data/app/fsm/task_command_type.cpp", "data/app/fsm/task_fsm/task_fsm.cpp" ], "commitId" : "8f7e94a46edce22ff96ee1be076fdc8031d6b153", "timestamp" : 1784264979000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: park子状态机收普通任务卡死PARK_MOVE无法退出\u000a\u000abulk分支(FSM_TYPE_B)在PARK_LOCK收到无散货途径点的普通任务时,\u000aLock2Init/Init2Move仅凭routing标志放行进入PARK_MOVE, 而该态下\u000aMove2Adjust(需bulk_in点)与Park_Bulk2Travel(需bulk_out点)恒假,\u000a只能靠再次取消任务解锁(实车卡死近4小时):\u000a- Lock2Init/Init2Move补散货途径点检查, 普通任务不再进入死区\u000a- 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\u000a\u000a同修停车场分支(FSM_TYPE_A)同类隐患: 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 13:09:39 +0800", "id" : "8f7e94a46edce22ff96ee1be076fdc8031d6b153", "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_command_type.cpp" }, { "editType" : "edit", "file" : "data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp" }, { "editType" : "edit", "file" : "data/app/fsm/task_fsm/task_fsm.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/map/pnc_map/pnc_map_path.cpp", "data/common/path.cpp" ], "commitId" : "f7ecf7b1dee5d6720bc871d7301910b4d6fd3b39", "timestamp" : 1784442326000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级\u000a\u000a- Path::GetIndexFromS/GetSmoothPoint 空路径不再fatal, 返回默认值并记ERROR日志\u000a- PncMapPath lane segment构造函数点数不足2时清空path_points_留无效path,\u000a 下游经IsAvailable安全降级, 不再CHECK崩进程\u000a", "date" : "2026-07-19 14:25:26 +0800", "id" : "f7ecf7b1dee5d6720bc871d7301910b4d6fd3b39", "msg" : "fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级", "paths" : [ { "editType" : "edit", "file" : "data/common/path.cpp" }, { "editType" : "edit", "file" : "data/map/pnc_map/pnc_map_path.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/common/path.hpp", "data/common/path.cpp", "data/common/path_point.cpp" ], "commitId" : "f8233babbba259246c3ed95227f6b9e2a070d600", "timestamp" : 1784449421000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: Path/DiscretizedPath 空与单点场景既有隐患修复\u000a\u000a- Path::Reset 补清 length_/num_sample_points_, 防复位后陈旧值残留\u000a- 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\u000a- Path::InitPoints 单点路径不再越界访问 path_pts_[-1]\u000a- DiscretizedPath::GetPathPtFromS/GetPathPtIdxFromS 空容器 front() UB 改空判降级,\u000a Evaluate/EvaluateReverse 的 CHECK(!empty()) fatal 同步改 LOG(ERROR)+默认点\u000a", "date" : "2026-07-19 16:23:41 +0800", "id" : "f8233babbba259246c3ed95227f6b9e2a070d600", "msg" : "fix: Path/DiscretizedPath 空与单点场景既有隐患修复", "paths" : [ { "editType" : "edit", "file" : "data/common/path.hpp" }, { "editType" : "edit", "file" : "data/common/path.cpp" }, { "editType" : "edit", "file" : "data/common/path_point.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/common/trajectory_point.cpp" ], "commitId" : "6762d53f760e626f1471f94fdd2ee82ef093e505", "timestamp" : 1784514428000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为\u000a\u000alower_bound 落在 end() 时原代码用 *end() 参与外插, 读垃圾内存, 结果不可信\u000a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\u000abegin 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\u000acloud_trajectory/trajectory_combiner 调用点同受益。\u000a", "date" : "2026-07-20 10:27:08 +0800", "id" : "6762d53f760e626f1471f94fdd2ee82ef093e505", "msg" : "fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为", "paths" : [ { "editType" : "edit", "file" : "data/common/trajectory_point.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/decision/obstacle_decision.hpp", "tasks/plan/keb_utils.cpp", "data/obstacle/decision/obstacle_decision.cpp", "tasks/deciders/other_decider/obstacle_decider.cpp", "data/obstacle/obstacle_decider_attr.cpp", "data/obstacle/obstacle.hpp", "data/obstacle/obstacle_decider_attr.hpp", "data/dp_poly_path/trajectory_cost.cpp" ], "commitId" : "b9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd5", "timestamp" : 1784514450000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源\u000a\u000a新增 data/obstacle/decision/: ObstacleDecider 循环体收敛为 obstacle_decision::\u000aUpdate(决策态继承→运动状态估计→Base/Label 决策→label 消抖)。\u000a\u000a- 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\u000a 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\u000a 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);\u000a UNDETERMINED 回落感知 is_static, 真静障首帧即走静态通道。\u000a- 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\u000a 长决策)。改 +0.3/-0.15 非对称死区, 死区内保持上帧值。\u000a- label 消抖: 收紧立即生效, 放松需连续 5 帧确认。\u000a- 决策态继承走 Update 内 InheritDecisionState 而非 Obstacles::FromHis:\u000a 后者全 stage 无条件跑, 会在不调度 OBSTACLE_DECIDER 的 stage 残留旧值。\u000a- 准入谓词统一: IsDpDynamicCandidate/IsCorridorGridObstacle 单一事实源,\u000a DP 动态盒与 KEB 走廊消费端只调用不自判。\u000a- ObstacleHisStates 加 velocity_filter_available(): MeanFilter 空缓存取均值\u000a 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。\u000a- debug_str 增加运动状态标记(U_/S_/M_)。attr 序列化升 v3。\u000a", "date" : "2026-07-20 10:27:30 +0800", "id" : "b9defc7cc8a6bd2c81866bf3e0ebfc67f944ffd5", "msg" : "feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/obstacle.hpp" }, { "editType" : 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"author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)\u000a\u000aDP 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\u000a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\u000a后追加动态收窄:\u000a\u000a- 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\u000a 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\u000a 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。\u000a- 对向车会车旁路(dyn_clamp_meeting_bypass): 常被弯道/航向门打成 IGNORE 但\u000a 会车交互仍在, REVERSE+FRONT/SIDE+确认运动独立于 label 进收窄(不进 DP 盒\u000a 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),\u000a 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。\u000a- 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,\u000a 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)。\u000a- 障碍 SL 半宽取 fabs: GetSLBoundary start/end 顺序未归一化, 裸减得负宽会\u000a 把占用区间整段丢弃(根治待源头归一, 见审计记录)。\u000a- 观测: 障碍 debug_str 追加 _D: 漏斗标记(幂等, 防回放重算\u000a 累积); trailer 走廊共用对象但不参与收窄不触碰锁存。\u000a- 灰度默认关(rosparam use_dynamic_bound_clamp, 验证需显式开)。\u000a", "date" : "2026-07-20 10:27:54 +0800", "id" : "4c6347125137a837135fd420306b5564fb539b50", "msg" : "feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp)", "paths" : [ { "editType" : "edit", "file" : "tasks/deciders/lat_decider/side_pass_decider.cpp" }, { "editType" : "edit", "file" : "replayer/replayer_data_process/replayer_data_process.cpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.hpp" }, { "editType" : "edit", "file" : "tasks/deciders/lat_decider/trailer_side_pass_decider.cpp" }, { "editType" : "edit", "file" : "data/config/cfg_lat_plan.hpp" }, { "editType" : "edit", "file" : "data/config/cfg_lat_plan.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/dp_poly_path/decision_trace.cpp", "data/dp_poly_path/decision_trace.hpp" ], "commitId" : "613bb76c1c04a61369d8cf718abbdd3ac5273f35", "timestamp" : 1784514485000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细\u000a\u000adyn_dbg 漏斗行(enabled→cand/bypass→arrive→hit→active→clamped, 哪层归零卡\u000a哪层) + dyn_notes 逐障碍投影统计(预测 s/l 范围/swept/inter/被拒原因) +\u000a断面级 dyn_* 收窄快照; dump 移到 GenerateBoundary 之后以带出收窄结果。\u000a排查'为什么没收窄'先看这两处。\u000a", "date" : "2026-07-20 10:28:05 +0800", "id" : "613bb76c1c04a61369d8cf718abbdd3ac5273f35", "msg" : "feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细", "paths" : [ { "editType" : "edit", "file" : "data/dp_poly_path/decision_trace.hpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/decision_trace.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/app/fsm/task_fsm/task_fsm.cpp" ], "commitId" : "5e94cf0938c76aee4944c9521d1073f2e917a140", "timestamp" : 1784531577000, 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"data/boundary/driving_corridor.hpp", "data/config/cfg_safe_const.hpp", "data/common/sl_boundary.hpp", "data/config/cfg_lat_plan.hpp", "data/obstacle/decision/obstacle_decision.hpp", "data/obstacle/decision/obstacle_decision.cpp", "data/config/cfg_safe_const.cpp", "data/config/cfg_lat_plan.cpp", "data/map/reference/reference_segment.cpp", "data/dp_poly_path/decision_trace.cpp", "data/obstacle/obstacle_decider_attr.cpp", "data/constrain/longitude_constrain.hpp", "data/obstacle/obstacle_decider_attr.hpp" ], "commitId" : "5d4c8178edc1a0a13f8a08bd4e556f43e4ac96cf", "timestamp" : 1784590790000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 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)\u000a\u000a- 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\u000a 编译期单源 kDynEvalDtS/kDynHorizonS(5s), 让 DP 及早为对向车主动让行\u000a- 动态障碍边界时间对齐收窄 + 会车 MEETING label 化 + 投影策略集中\u000a (对向扫掠包络/收窄深度封顶 dyn_clamp_meeting_depth_cap 可调) + trace 观测\u000a- 狭窄会车识别: 收窄后可用宽度不足→降速+缩跟车距离(narrow_meeting)\u000a- 误绕行治理:\u000a * 跟踪成熟度门(reserved_int_1 未初始化 + age), 修 age>0 放过新 track 的洞\u000a * 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)\u000a * 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,\u000a VRU 靠边无条件绕(解耦动静), 车辆类居中抛锚超时逃生口\u000a * 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\u000a 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\u000a- 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;\u000a 同向并行/超车贴身降速(空间足够不降速), 复用 PARALLEL_OBSTACLE_SPEED_LIMIT\u000a- SL 约定全仓统一(start_l=左缘/end_l=右缘)+语义访问器\u000a- 所有功能使能开关集中到 CfgFuncSw, 数值调参留各域 config;\u000a 序列化迁移用占位模式保旧 dump 对齐(CfgFuncSw/CfgLatPlan/CfgSafeConst/\u000a ObstacleDeciderAttr/PerceptionObstacle 各升版本)\u000a", "date" : "2026-07-21 07:39:50 +0800", "id" : "5d4c8178edc1a0a13f8a08bd4e556f43e4ac96cf", "msg" : "feat: 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)", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.cpp" }, { "editType" : "edit", "file" : 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"wuyanjun110@126.com", "comment" : "fix: 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\u000a\u000adl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;\u000ainit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\u000a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\u000a(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。\u000a不动s锚定/采样。\u000a", "date" : "2026-07-21 21:57:24 +0800", "id" : "57432d24b14d214084e3c0719893a693d3db7796", "msg" : "fix: 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", "paths" : [ { "editType" : "edit", "file" : "data/dp_poly_path/dp_road_graph.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/decision/obstacle_decision.cpp" ], "commitId" : "7f9cc76953b6e990b2a03616093dd9a9369432f7", "timestamp" : 1784642401000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)\u000a\u000a- 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,\u000a 与 DP KeepSidePassUntilCentered 同源、对齐 kKeepLThr)作为必要条件,\u000a 防 l≈0 纯意图被单帧抖动瞬时锁成 30s 承诺\u000a- 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,\u000a 零回摆风险; 已绕到一半(lateral_engaged)的仍走硬承诺完成\u000a- ego_match 不可用时证据无效, 进入保守拒绝、已建承诺不误撤\u000a", "date" : "2026-07-21 22:00:01 +0800", "id" : "7f9cc76953b6e990b2a03616093dd9a9369432f7", "msg" : "feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行)", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/decision/obstacle_decision.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_func_sw.cpp" ], "commitId" : "245dc82d4e357b7d33cabc7b091bdb2b7c2aeead", "timestamp" : 1784642447000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true)\u000a", "date" : "2026-07-21 22:00:47 +0800", "id" : "245dc82d4e357b7d33cabc7b091bdb2b7c2aeead", "msg" : "feat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true)", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_func_sw.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/obstacle_decider_attr.cpp" ], "commitId" : "e448e4ce08f401dd7e70250707072e155614d092", "timestamp" : 1784690400000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等\u000a\u000a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\u000a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\u000a停等。在 LabelDecider !treat_as_static 块【先于】两门加会车短路:\u000aIsMeetingScenario(确认运动+逆向+车前/侧)一律走 MEETING——本体不 BLOCK/\u000a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,\u000a纵向 ST/guardian 照常停, 安全不丢。灰度仍 dyn_clamp_meeting_bypass。\u000a", "date" : "2026-07-22 11:20:00 +0800", "id" : "e448e4ce08f401dd7e70250707072e155614d092", "msg" : "feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等", "paths" : [ { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_lat_plan.cpp" ], "commitId" : "40537f7ac3d275051064cfa1361a4a989672e8a6", "timestamp" : 1784690400000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)\u000a", "date" : "2026-07-22 11:20:00 +0800", "id" : "40537f7ac3d275051064cfa1361a4a989672e8a6", "msg" : "chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧)", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_lat_plan.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/constrain/longitude_constrain.hpp", "data/constrain/longitude_constrain.cpp" ], "commitId" : "ac4a015c1d0fa9fff7faee5f20a363bfd4d0706b", "timestamp" : 1784691662000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃\u000a\u000aNARROW_MEETING_SPEED_LIMIT 实装时只登记了 IsSpeedLimitType, 漏了\u000aLongitudeSpeedLimitConstrain::Initialize 的类型断言白名单。窄会车识别一旦\u000a触发 CreateNarrowMeetingConstrain 就 LOG_ASSERT 崩溃(Signal 6)。补三处:\u000a断言白名单 / TraceBack switch 分组(同 PARALLEL 走减速曲线) / ToString case\u000a(原走 default 显示 UNKNOWN)。走软限速, 未加 IsHardConstrainType。\u000a", "date" : "2026-07-22 11:41:02 +0800", "id" : "ac4a015c1d0fa9fff7faee5f20a363bfd4d0706b", "msg" : "fix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃", "paths" : [ { "editType" : "edit", "file" : "data/constrain/longitude_constrain.cpp" }, { "editType" : "edit", "file" : "data/constrain/longitude_constrain.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/decision/obstacle_decision.hpp", "data/map/pnc_map/pnc_map_path.cpp", "data/boundary/driving_corridor.cpp", "data/obstacle/decision/obstacle_decision.cpp", "data/obstacle/obstacle_decider_attr.cpp", "data/config/cfg_func_sw.hpp", "data/config/cfg_func_sw.cpp", "data/obstacle/obstacle_decider_attr.hpp", "data/map/pnc_map/pnc_map_path.hpp" ], "commitId" : "58317cd215b7ab93b84dab9a684c06666a8dacec", "timestamp" : 1784792061000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 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)\u000a\u000a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\u000a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。\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: pulled_over 相对自车参考线判, 会把侵入自车道\u000a 的逆向车误判为\"居中\"→跟一辆迎面来的车。\u000a- 走廊左钳与堵塞判据统一用 TrailerAwareHalfWidths(挂车感知/左右非对称),\u000a 该函数上移至 Init 之前, 保持各处 footprint 口径一致。\u000a- GetBoundaryFromS 内是 CHECK(!empty()), 新增调用在断面循环之前, 加空守卫。\u000a- 灰度 use_meeting_borrow_yield_(cfg_func_sw v14), 观测日志 LOG_EVERY_N 降频。\u000a", "date" : "2026-07-23 15:34:21 +0800", "id" : "58317cd215b7ab93b84dab9a684c06666a8dacec", "msg" : "feat: 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)", "paths" : [ { "editType" : "edit", "file" : "data/config/cfg_func_sw.hpp" }, { "editType" : "edit", "file" : "data/map/pnc_map/pnc_map_path.hpp" }, { "editType" : "edit", "file" : "data/obstacle/decision/obstacle_decision.hpp" }, { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.cpp" }, { "editType" : "edit", "file" : "data/config/cfg_func_sw.cpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.hpp" }, { "editType" : "edit", "file" : "data/obstacle/decision/obstacle_decision.cpp" }, { "editType" : "edit", "file" : "data/map/pnc_map/pnc_map_path.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/ogm.hpp", "tasks/plan/keb_utils.cpp", "data/obstacle/ogm.cpp", "data/boundary/driving_corridor.cpp", "hmi/draw/draw_perception.cpp" ], "commitId" : "51819254225b35991f7648de9c4d98c51f1e32b2", "timestamp" : 1784793352000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 烟台车内/柱子/房子点云及下沉坑点适配\u000a\u000a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\u000a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,\u000a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)。\u000a", "date" : "2026-07-23 15:55:52 +0800", "id" : "51819254225b35991f7648de9c4d98c51f1e32b2", "msg" : "feat: 烟台车内/柱子/房子点云及下沉坑点适配", "paths" : [ { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "tasks/plan/keb_utils.cpp" }, { "editType" : "edit", "file" : "hmi/draw/draw_perception.cpp" }, { "editType" : "edit", "file" : "data/obstacle/ogm.cpp" }, { "editType" : "edit", "file" : "data/obstacle/ogm.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/obstacle/decision/obstacle_decision.hpp", "data/map/pnc_map/pnc_map_path.cpp", "data/boundary/driving_corridor.cpp", "data/obstacle/decision/obstacle_decision.cpp", "data/boundary/road_boundary.cpp", "data/boundary/road_boundary.hpp", "data/map/pnc_map/pnc_map_path.hpp" ], "commitId" : "336c09dfd3035a62ada742b79f001dbda066f0c3", "timestamp" : 1784807246000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 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\u000a\u000a坐标系纠错:\u000a障碍物 sl_boundary 由 GenerateRefSlBoundary(guide_line) 生成, 是 guide 系,\u000a原实现却拿它的 s 去查 reference_line().pnc_map_path() 的 ref 系逆向道表,\u000a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。\u000a改为在 GenerateRoadBoundary 建表时用 point_info.s() 从该断面对应的那条\u000a参考线取, 存进 BoundaryPt, 与 lane_left_l 同源, 消费侧全在 guide 系查。\u000a顺带补 rev_s<0 早退(GetBoundaryFromS 对负 s 退化返回最远断面)。\u000a\u000a钳制线纠错:\u000a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\u000a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。\u000a改为 lane_left_l + reverse_lane_gap(自车道边线到逆向道近边界的距离),\u000a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。\u000a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。\u000a\u000a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\u000a搬进 guide 系必须先减 point_info.l()。\u000a\u000aSSEP 断面排除:\u000a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\u000a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\u000a的 SSEP 段硬缩到贴车身。\u000a", "date" : "2026-07-23 19:47:26 +0800", "id" : "336c09dfd3035a62ada742b79f001dbda066f0c3", "msg" : "fix: 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", "paths" : [ { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/obstacle/decision/obstacle_decision.cpp" }, { "editType" : "edit", "file" : "data/map/pnc_map/pnc_map_path.hpp" }, { "editType" : "edit", "file" : 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