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flag\u000a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。\u000a改动后 .o 总量降到 1.25GB, pnc_node 降到 768MB。\u000a\u000a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\u000a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。\u000a\u000a注意: .dwo 按相对路径记录, 调试器需从 build/ 目录启动才能定位。\u000a", "date" : "2026-07-28 20:11:36 +0800", "id" : "ec9340249732808b8bb0aff790e41a93e52afb95", "msg" : "build: Debug 调试信息拆到 .dwo, 链接改用 lld", "paths" : [ { "editType" : "edit", "file" : "CMakeLists.txt" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "scenarios/task_condition_evaluator.cpp" ], "commitId" : "8a87ff88ceb619b57bc3fb2609e3e5d5731598a1", "timestamp" : 1785240705000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用\u000a", "date" : "2026-07-28 20:11:45 +0800", "id" : "8a87ff88ceb619b57bc3fb2609e3e5d5731598a1", "msg" : "fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用", "paths" : [ { "editType" : "edit", "file" : "scenarios/task_condition_evaluator.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/plan/path_direction_data.cpp" ], "commitId" : "7268950b8f11da77e93c148cf9e661c396982533", "timestamp" : 1785240867000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "feat: 锁站方向判定增加终点在车后倒车分支\u000a\u000a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\u000areq_step_align 分支后按前进方向规划。\u000a", "date" : "2026-07-28 20:14:27 +0800", "id" : "7268950b8f11da77e93c148cf9e661c396982533", "msg" : "feat: 锁站方向判定增加终点在车后倒车分支", "paths" : [ { "editType" : "edit", "file" : "data/plan/path_direction_data.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/map/reference/center_line.cpp" ], "commitId" : "ffcbaf27b3966535b3120134e0ae867ba6af7098", "timestamp" : 1785240895000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: 途径点匹配改按横向距离绝对值取最近中心线\u000a\u000a引桥/岸桥/park/buffer/lane_change 五处筛选中心线时, min_l 初值为 DBL_MAX\u000a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\u000a最近的。外层已按 fabs(l()) < 2.0 过滤, 内层比较与之矛盾。改为与\u000aUpdateDestAttr / UpdateCurrentAttr 一致的 fabs 写法。\u000a", "date" : "2026-07-28 20:14:55 +0800", "id" : "ffcbaf27b3966535b3120134e0ae867ba6af7098", "msg" : "fix: 途径点匹配改按横向距离绝对值取最近中心线", "paths" : [ { "editType" : "edit", "file" : "data/map/reference/center_line.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/plan/switch_data.hpp", "data/map/reference/center_line.hpp", "data/map/reference/center_line.cpp" ], "commitId" : "07d92304fb54c78cba2b3372c5c505f2b6438d9d", "timestamp" : 1785240905000, "author" : { "absoluteUrl" : "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/map/reference/center_line.cpp" }, { "editType" : "edit", "file" : "data/plan/switch_data.hpp" }, { "editType" : "edit", "file" : "data/map/reference/center_line.hpp" } ] }, { "_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" : [ "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", "algorithm/plan/pjpo.cpp", "tasks/deciders/lat_decider/switching_bounds_decider.cpp", "data/plan/start_point_data.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" : "tasks/plan/pjpo_task.cpp" }, { "editType" : "edit", "file" : "algorithm/plan/pjpo.hpp" }, { "editType" : "edit", "file" : "algorithm/plan/pjpo.cpp" }, { "editType" : "edit", "file" : "Testing/pjpo_case_test.cpp" }, { "editType" : "edit", "file" : "tasks/deciders/lat_decider/switching_bounds_decider.cpp" }, { "editType" : "edit", "file" : "data/plan/start_point_data.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/plan/cloud_trajectory.cpp", "data/plan/cloud_trajectory.hpp" ], "commitId" : "8625a005fd68e71ee1e7bdf936f0c6edfc0d9b7e", "timestamp" : 1785308274000, "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 14:57:54 +0800", "id" : "8625a005fd68e71ee1e7bdf936f0c6edfc0d9b7e", "msg" : "feat: 云端轨迹下发各 lane 的剩余长度与总长度", "paths" : [ { "editType" : "edit", 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