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2025-12-09 20:50:34 +08008a9957037de066d3d4cdf82cbad7fdd3c8959c6afeat: mass estimation debugeditpnc_debug_msgs/msg/ObserverDebug.msg
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2025-12-09 20:50:38 +0800bda37c1664a0b2e9597e3bccc1de248377a604a9fix:调整pnc_debug观测项editpnc_debug_msgs/msg/ObserverDebug.msg
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2025-12-09 20:50:42 +08002b71c0304054364d87f064dcf43f568a81ed11e0feat:油门标定消息editpnc_debug_msgs/msg/LonMpcDebug.msg
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2025-12-09 20:50:47 +08003fb873095fdaf1350fb114c2b530852ba9f8924dfeat:增加观测editpnc_debug_msgs/msg/LonMpcDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msg
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2026-01-06 10:38:40 +08004de4986bc8bb6959f1d31983148bf959dd76640dfix: 统一pnc_debug_msg/ObserverDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msg
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2026-01-06 10:43:21 +0800fa59a10a56ef4a39aa887ed0e9824a27bdf5f675fix: 统一pnc_debug_msg/ObesrverDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msg
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2026-01-06 17:05:54 +08006895a9be22aef5e00689b15840fef864a1262163feat_out:增加剩余续航里程字段editperipheral_msgs/msg/VehicleStatus.msg
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2026-01-16 18:09:19 +0800bd0af1a7eaa469088ebc6fa88194e792a9f60df6feat_out:字段精度调整editcloud_msgs/msg/TosTask.msg
- tos_msgs/msg/PeripheralCmd.msg3e9f6f0cd2346406b4879f68c4910996c8dc821c1769061366000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修改外设cmd消息
2026-01-22 13:56:06 +08003e9f6f0cd2346406b4879f68c4910996c8dc821cfeat_out:修改外设cmd消息edittos_msgs/msg/PeripheralCmd.msg
- peripheral_msgs/msg/VehicleStatus.msg3fe6e282961013cb8190e7ba878ca9bbc6c34a411770085537000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加外设状态反馈字段
2026-02-03 10:25:37 +08003fe6e282961013cb8190e7ba878ca9bbc6c34a41feat_out:增加外设状态反馈字段editperipheral_msgs/msg/VehicleStatus.msg
- tos_msgs/msg/PeripheralCmd.msg78742f614045dfc91b5e32773a9faa46dfebc4f01770281061000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:外设命令cmd枚举调整
2026-02-05 16:44:21 +080078742f614045dfc91b5e32773a9faa46dfebc4f0feat_out:外设命令cmd枚举调整edittos_msgs/msg/PeripheralCmd.msg
- cloud_msgs/msg/CloudPlanning.msgcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/CloudPlanningResponse.msg76803290249f1a7498b77dac42c959f2385e72a81772273255000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:添加云端规划消息
2026-02-28 18:07:35 +080076803290249f1a7498b77dac42c959f2385e72a8feat_out:添加云端规划消息addcloud_msgs/msg/CloudPlanning.msgaddcloud_msgs/msg/CloudPlanningResponse.msgaddcloud_msgs/msg/CloudPlanningPoint.msgeditcloud_msgs/CMakeLists.txt
- cloud_msgs/msg/CloudPlanning.msgcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/CloudPlanningResponse.msgb1e42a87435fb81745d25a9d32411056734862b81772273322000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:添加云端规划消息
2026-02-28 18:08:42 +0800b1e42a87435fb81745d25a9d32411056734862b8feat_out:添加云端规划消息addcloud_msgs/msg/CloudPlanningResponse.msgaddcloud_msgs/msg/CloudPlanning.msgeditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/CloudPlanningPoint.msg
- cloud_msgs/msg/CloudPlanningResponse.msg23f556d99666ecfa4db447aff433ea4686f256861772520930000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:add cloud_planning_response
2026-03-03 14:55:30 +080023f556d99666ecfa4db447aff433ea4686f25686feat_out:add cloud_planning_responseeditcloud_msgs/msg/CloudPlanningResponse.msg
- peripheral_msgs/msg/VehicleStatus.msgb338fbf811a4f2c0c39e71ee62f18c35757f0b1d1773803625000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加续航里程字段
2026-03-18 11:13:45 +0800b338fbf811a4f2c0c39e71ee62f18c35757f0b1dfeat_out:增加续航里程字段editperipheral_msgs/msg/VehicleStatus.msg
- ads_msgs/msg/HfsmState.msg9e61cf69319a9a472e75f01c8ed741aad6dc7a6f1773999979000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg):添加是否越过当前边界的标志位
2026-03-20 17:46:19 +08009e61cf69319a9a472e75f01c8ed741aad6dc7a6fchore(msg):添加是否越过当前边界的标志位editads_msgs/msg/HfsmState.msg
- tos_msgs/msg/PncConfiguration.msg0daa1f7f08156df5a55cf90342da631b318e2d3d1775655112000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg): 添加距离阈值内不避让排队车辆的标志位
2026-04-08 21:31:52 +08000daa1f7f08156df5a55cf90342da631b318e2d3dchore(msg): 添加距离阈值内不避让排队车辆的标志位edittos_msgs/msg/PncConfiguration.msg
- comm_msgs/msg/Traj.msgb34e00e37e0d3a5818ba0ebb75422c11ae3b6b281776064859000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更
2026-04-13 15:20:59 +0800b34e00e37e0d3a5818ba0ebb75422c11ae3b6b28feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msg
- tos_msgs/msg/PeripheralCmd.msg4c96c8a35f2498ec41691f02e4e5b3f87104d8331776161260000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加沈汽环卫上装控制
2026-04-14 18:07:40 +08004c96c8a35f2498ec41691f02e4e5b3f87104d833feat_out:增加沈汽环卫上装控制edittos_msgs/msg/PeripheralCmd.msg
- peripheral_msgs/msg/VehicleStatus.msg2762395f197d1dcc14647d4e7bca0c6a467b69b61776246597000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:补充外设字段
2026-04-15 17:49:57 +08002762395f197d1dcc14647d4e7bca0c6a467b69b6feat_out:补充外设字段editperipheral_msgs/msg/VehicleStatus.msg
- comm_msgs/msg/Traj.msgaed54f80025d95dc2fa58fadb5f26bd1c46d4b0d1776396428000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更
2026-04-17 11:27:08 +0800aed54f80025d95dc2fa58fadb5f26bd1c46d4b0dfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msg
- pnc_debug_msgs/msg/ObserverDebug.msge1ea7d61508080e52f9048605a18ef6c2037b49e1776776486000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:处理合并冲突
2026-04-21 21:01:26 +0800e1ea7d61508080e52f9048605a18ef6c2037b49efeat_out:处理合并冲突editpnc_debug_msgs/msg/ObserverDebug.msg
- align_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txt0bf8bca044aa2d9364b02efff468438ff651c1c21779358531000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位
2026-05-21 18:15:31 +08000bf8bca044aa2d9364b02efff468438ff651c1c2添加新消息——跨运车z向抱夹到位addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txt
- align_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txtb8f59b921d1a229a9a39dc06f08a35101d7102941779362634000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位
2026-05-21 19:23:54 +0800b8f59b921d1a229a9a39dc06f08a35101d710294添加新消息——跨运车z向抱夹到位addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txt
- comm_msgs/msg/Traj.msgbcbc5de637a9a70f2d4a3f32247a71a67dbfd4a01779678432000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更
2026-05-25 11:07:12 +0800bcbc5de637a9a70f2d4a3f32247a71a67dbfd4a0feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msg
- comm_msgs/msg/Traj.msg549daf0fc4e7c8f469ba1807acf334525ddb939b1779697241000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更
2026-05-25 16:20:41 +0800549daf0fc4e7c8f469ba1807acf334525ddb939bfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msg
- tos_msgs/msg/PeripheralCmd.msgtmp/aha/dconf/user.marscode/deviceInfo.jsond2d1816d65aec8f872cc6f61052bdcb8c64e73e51780365770000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加吉利锁具控制
2026-06-02 10:02:50 +0800d2d1816d65aec8f872cc6f61052bdcb8c64e73e5feat_out:增加吉利锁具控制edittos_msgs/msg/PeripheralCmd.msgadd.marscode/deviceInfo.jsonaddtmp/aha/dconf/user
- comm_msgs/msg/Traj.msg28d550621b9b5b7a5c1e61e58845772ff4c1525c1780369194000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: 手动rebase交通管制v2 msg变更
2026-06-02 10:59:54 +080028d550621b9b5b7a5c1e61e58845772ff4c1525cfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msg
- peripheral_msgs/msg/PeripheralOperateState.msgtos_msgs/msg/PeripheralCmd.msg7d1f2976915d6191037ca802663b6fcf5c9528671780392251000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:新增吉利锁具控制
2026-06-02 17:24:11 +08007d1f2976915d6191037ca802663b6fcf5c952867feat_out:新增吉利锁具控制editperipheral_msgs/msg/PeripheralOperateState.msgedittos_msgs/msg/PeripheralCmd.msg
- comm_msgs/msg/Traj.msgeadbbf60c2f42f9cc816ea239eb5310f19bef0581780457575000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更
2026-06-03 11:32:55 +0800eadbbf60c2f42f9cc816ea239eb5310f19bef058feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msg
- guardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txt876f0ac7f688fcb989d1343dc7bfac606a98615e1781229500000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义
2026-06-12 09:58:20 +0800876f0ac7f688fcb989d1343dc7bfac606a98615efeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacleReport.msgaddguardian_msgs/msg/ParallelObstacle.msgeditguardian_msgs/CMakeLists.txt
- align_msgs/msg/TargetCarStatus.msg4a63c7fafd07ee96114547c4152c16c5b153898f1781236330000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加载物状态及其枚举值&&车型错误标志
2026-06-12 11:52:10 +08004a63c7fafd07ee96114547c4152c16c5b153898f添加载物状态及其枚举值&&车型错误标志editalign_msgs/msg/TargetCarStatus.msg
- align_msgs/msg/TargetCarStatus.msgdbde87dac06d38fa0c632d2b48b972820d01c3f11781236908000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加载物状态及其枚举值&&车型错误标志
2026-06-12 12:01:48 +0800dbde87dac06d38fa0c632d2b48b972820d01c3f1添加载物状态及其枚举值&&车型错误标志editalign_msgs/msg/TargetCarStatus.msg
- guardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txt7d57dd6412d4746df29e6b22eeda874d2244b0cd1781582456000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义
2026-06-16 12:00:56 +08007d57dd6412d4746df29e6b22eeda874d2244b0cdfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacleReport.msgaddguardian_msgs/msg/ParallelObstacle.msg
- comm_msgs/msg/Traj.msgdb51c891fddcf73babce98115f7526d2860bd6c41781700918000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: 手动rebase交通管制v2 msg变更
2026-06-17 20:55:18 +0800db51c891fddcf73babce98115f7526d2860bd6c4feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msg
- ads_msgs/msg/Target.msg063d531a478250750e71384bff10ecd00da9d00f1782287750000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加货物分段长度字段和逃逸场景类型
2026-06-24 15:55:50 +0800063d531a478250750e71384bff10ecd00da9d00ffeat: 添加货物分段长度字段和逃逸场景类型editads_msgs/msg/Target.msg
- align_msgs/msg/TargetCarStatus.msg87e2add8eda2f4683844d03b1c06fbef5e37a29f1782443028000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加车型匹配bool字段
2026-06-26 11:03:48 +080087e2add8eda2f4683844d03b1c06fbef5e37a29f添加车型匹配bool字段editalign_msgs/msg/TargetCarStatus.msg
- guardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txt5f922b46649cf7a0c2cee7b9a0d984783d85d8bd1783995897000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义
2026-07-14 10:24:57 +08005f922b46649cf7a0c2cee7b9a0d984783d85d8bdfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacleReport.msgeditguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msg
git- tasks/plan/keb_utils.cpp95737210ab3b8548ebf8930d3c4267544256fd361784194096000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 忽略ssep_ec中缓存的real obstacles
2026-07-16 17:28:16 +080095737210ab3b8548ebf8930d3c4267544256fd36chore: Keb: 忽略ssep_ec中缓存的real obstaclesedittasks/plan/keb_utils.cpp
- ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.hssep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.ccssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.hssep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.hssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc24fd81a9d13c83e6652e19c559f8f82118f728871784274551000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autorefactor: SSEP: 移除ilqr集卡轨迹库功能
2026-07-17 15:49:11 +080024fd81a9d13c83e6652e19c559f8f82118f72887refactor: SSEP: 移除ilqr集卡轨迹库功能editssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccdeletessep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.hdeletessep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.ccdeletessep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.hdeletessep/coarse_search/searcher_builders/back_insertion_maneuver_searcher_builder.ccdeletessep/coarse_search/motion_primitive_sampler/ilqr_motion_primitive_sampler.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.ccdeletessep/coarse_search/searcher_builders/u_turn_insertion_maneuver_searcher_builder.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
- ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hd06067513a0b5bde9107fa12fb1bfdd64afad47f1784514533000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限
2026-07-20 10:28:53 +0800d06067513a0b5bde9107fa12fb1bfdd64afad47ffeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
- data/app/fsm/task_fsm/task_fsm.cpp9152b3d115c2ef7450db98344b5e702217cd003a1784706621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入
2026-07-22 15:50:21 +08009152b3d115c2ef7450db98344b5e702217cd003afix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入editdata/app/fsm/task_fsm/task_fsm.cpp
- ssep/coarse_search/evaluator/evaluator.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/batched_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/indexed_priority_queue.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/heuristic_feature_computer.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/gpu/device_types.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.h39bf5226ef6719b607a7d0542bf55d778e7d359d1784714614000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍
2026-07-22 18:03:34 +080039bf5226ef6719b607a7d0542bf55d778e7d359dfeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/evaluator/evaluator.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/coarse_search/batched_priority_queue.heditssep/coarse_search/gpu_context.cceditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/evaluator/heuristic_feature_computer.heditssep/gpu/collision/collision_checker.cuheditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.haddssep/gpu/heuristic/reeds_shepp_kernel.cuheditssep/coarse_search/bounded_priority_queue.haddssep/gpu/heuristic/dubins_kernel.cuheditssep/scenarios/tractor_trailer_single_segment_parking_planner.haddssep/gpu/heuristic/heuristic_batch_bridge.cuaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/coarse_search/gpu_context.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cceditssep/gpu/device_types.haddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
- ssep/scenarios/tractor_trailer_lane_change_planner.haaf191484e4e3f33b0ca49fe3b1749ebf8d2e9b21784774497000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复变道轨迹末端可能画龙的问题
2026-07-23 10:41:37 +0800aaf191484e4e3f33b0ca49fe3b1749ebf8d2e9b2fix: SSEP: 修复变道轨迹末端可能画龙的问题editssep/scenarios/tractor_trailer_lane_change_planner.h
- ssep/scenarios/tractor_trailer_single_segment_parking_planner.hbacd6f75095ebef05f68e0eaf0414f92cb592fee1784878619000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题
2026-07-24 15:36:59 +0800bacd6f75095ebef05f68e0eaf0414f92cb592feechore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- data/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppc2113047bac08d73e9035f2f77f37a6270bc6e0e1784943859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景
2026-07-25 09:44:19 +0800c2113047bac08d73e9035f2f77f37a6270bc6e0efeat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cpp
- data/decide/decide_reaction.cppdata/decide/decide_reaction.hppnode/logic.cppsink/ros_sink_record_trigger.cpp1e0426b45af918c79f26461ff56f81c6830e8b3b1784943875000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: HMI快照按钮触发发SNAP录包(关掉决策结果保存)
- DecisionReaction 加一次性标志 hmi_req_record_snap_(不序列化/不入FromHis)
- logic plan循环消费快照按钮标志并当场复位, 修从不复位每帧触发问题
- 快照按钮不再置 save_decision_result
- RosSinkRecordTrigger 按钮标志与自动条件一并发 SNAP Trigger
2026-07-25 09:44:35 +08001e0426b45af918c79f26461ff56f81c6830e8b3bfeat: HMI快照按钮触发发SNAP录包(关掉决策结果保存)editdata/decide/decide_reaction.cppeditnode/logic.cppeditdata/decide/decide_reaction.hppeditsink/ros_sink_record_trigger.cpp
- data/ssep/ex_lane_change_ec.cppdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp92088627602c301bd21d516bfa3654bcba0cc8181785121109000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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
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
(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
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
搜索必然失败。
- 折线化: 新增 AppendOffsetPolylineTunnel(沿参考线 2m 等 l 偏移折线) /
AppendCrossLineTunnel(等 s 断面法向封口线) / CalcMaxCurvature(theta 差分
带符号曲率), 替换四处弦近似: ConstructStartTunnel 两条侧墙+横切线、
ConstructEndTunnel 左右管道+后端封口、ConstructObsTunnel、
GetRealObstacleTunnel。横向量统一为 SL 约定(左正右负), 与旧
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
- 弯道裕量: end tunnel 补挂车 offtracking(L^2*kappa/2, 上限 1.2m, 按曲率符号
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)
- 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
- 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
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
GetReferencePoint, 避免最近离散点致曲率被静默低估为 0
灰度 use_func_lc_tunnel_curvature_fit / use_func_lc_tunnel_curvature_margin,
cfg_func_sw 序列化 version 15。replay 与实车均未验证。
2026-07-27 10:58:29 +080092088627602c301bd21d516bfa3654bcba0cc818fix: 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editdata/ssep/ex_lane_change_ec.cppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hpp
- ssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.ccssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/coarse_search/motion_primitive_sampler/dubins_path.cc4f9de105c49de6de1a32e3b706f16133628e64791785229562000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决终点区域被加入close set导致无法搜到终点的问题
2026-07-28 17:06:02 +08004f9de105c49de6de1a32e3b706f16133628e6479fix: SSEP: 解决终点区域被加入close set导致无法搜到终点的问题editssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/coarse_search/motion_primitive_sampler/dubins_path.cceditssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
- ssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/maps/ogm_config_utils.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.hssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/scenarios/imv_multi_segment_parking_planner.hssep/data_structures/ssep_scenario_type.hppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cca56b63fa3d80b8b6fb06b27af17a45be8dbe73dc1785231684000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: IMV新增基于pass point倒车点的多段搜索
2026-07-28 17:41:24 +0800a56b63fa3d80b8b6fb06b27af17a45be8dbe73dcfeat: SSEP: IMV新增基于pass point倒车点的多段搜索editssep/data_structures/ssep_scenario_type.hppeditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.haddssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/protos/ssep_scenario_type.protoeditssep/scenarios/scenario_planner_factory.haddssep/scenarios/imv_multi_segment_parking_planner.heditssep/maps/ogm_config_utils.cc
- CMakeLists.txtec9340249732808b8bb0aff790e41a93e52afb951785240696000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.combuild: Debug 调试信息拆到 .dwo, 链接改用 lld
-fstandalone-debug 让每个 .o 都带完整调试信息, 全量产出 819 个 .o 共 4.7GB、
可执行文件各 1.35GB, 结果 ccache 装不下一次全量(命中率仅 17%), 链接也很慢。
追加 -gsplit-dwarf 把调试信息拆到独立 .dwo, 不再进 .o 和最终二进制。两个 flag
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。
改动后 .o 总量降到 1.25GB, pnc_node 降到 768MB。
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
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。
注意: .dwo 按相对路径记录, 调试器需从 build/ 目录启动才能定位。
2026-07-28 20:11:36 +0800ec9340249732808b8bb0aff790e41a93e52afb95build: Debug 调试信息拆到 .dwo, 链接改用 lldeditCMakeLists.txt
- scenarios/task_condition_evaluator.cpp8a87ff88ceb619b57bc3fb2609e3e5d5731598a11785240705000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用
2026-07-28 20:11:45 +08008a87ff88ceb619b57bc3fb2609e3e5d5731598a1fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用editscenarios/task_condition_evaluator.cpp
- data/plan/path_direction_data.cpp7268950b8f11da77e93c148cf9e661c3969825331785240867000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 锁站方向判定增加终点在车后倒车分支
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
req_step_align 分支后按前进方向规划。
2026-07-28 20:14:27 +08007268950b8f11da77e93c148cf9e661c396982533feat: 锁站方向判定增加终点在车后倒车分支editdata/plan/path_direction_data.cpp
- data/map/reference/center_line.cppffcbaf27b3966535b3120134e0ae867ba6af70981785240895000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 途径点匹配改按横向距离绝对值取最近中心线
引桥/岸桥/park/buffer/lane_change 五处筛选中心线时, min_l 初值为 DBL_MAX
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
最近的。外层已按 fabs(l()) < 2.0 过滤, 内层比较与之矛盾。改为与
UpdateDestAttr / UpdateCurrentAttr 一致的 fabs 写法。
2026-07-28 20:14:55 +0800ffcbaf27b3966535b3120134e0ae867ba6af7098fix: 途径点匹配改按横向距离绝对值取最近中心线editdata/map/reference/center_line.cpp
- data/plan/switch_data.hppdata/map/reference/center_line.hppdata/map/reference/center_line.cpp07d92304fb54c78cba2b3372c5c505f2b6438d9d1785240905000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)
判定:
- 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
检查也复用它, 拆成 left/right 各算各的
- 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
- seaside/lane_change 比较用 start_match.s() 却存 end_match.s(), 下一轮
比较基准错位, 统一回 start
越界与崩溃防护:
- RelationOfRefByIdx 两个重载空容器时 size()-1 下溢, 后面 CHECK 必失败,
改优雅返回 INT32_MAX(46 处调用点已按此值处理)
- UpdateSwitchAttr 开头补 empty() 早退, 原先 back() 无保护
- JudgeIsInBlackLane 查的是邻车道, 补 idx==0 查左邻的边界判断
- GetBlackLaneDistanceFromEgo 的 count 是变道相对关系可为负, idx+count
走 size_t 会下溢, 改 int64_t 中转后校验
- SwitchData::curr_lane_idx_/target_lane_idx_ 无类内初始化也不在构造列表,
补 SIZE_MAX
冗余拷贝(均为每帧热路径, CenterLine 含完整点列):
- UpdateBlackLaneDistance 深拷贝整个 MltCenterLines
- GetBlackLaneDistanceFromEgo 首次 at(idx) 拷贝立即被覆盖
- JudgeIsInBlackLane 按值拷贝邻车道
死代码:
- 136 行注释掉的 lane_change 旧实现
- LaneChangePtIsInCurPath(条件括号错位致语义反转, 仅注释块内调用)
- buffer 途径点在 center_line 侧的链路(赋值处早已注释, 无消费者);
AppReaction::buffer_passing_pts_ 仍在用, 未动
2026-07-28 20:15:05 +080007d92304fb54c78cba2b3372c5c505f2b6438d9dfix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码)editdata/map/reference/center_line.cppeditdata/plan/switch_data.hppeditdata/map/reference/center_line.hpp
- data/config/vehicle_kinematics.hppmath/dubins_curve/dubins_curve.hppf52a80e3e066ada24ab08c9c3386d1f6dcc18f1a1785242096000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加车辆最大曲率计算函数，优化运动学处理
2026-07-28 20:34:56 +0800f52a80e3e066ada24ab08c9c3386d1f6dcc18f1afeat: 添加车辆最大曲率计算函数，优化运动学处理adddata/config/vehicle_kinematics.hppeditmath/dubins_curve/dubins_curve.hpp
- data/common/trajectory_point.cpp110e813513452226d19c6b61ef6ade1f9018d9ca1785308178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 TrajectoryPoints 三处按弧长插值的参数误用
MatchPtByt/MatchPtByS/MatchMultiPtsByMultiS 都把 [0,1] 的比例传给
InterpPtByLinearS, 而后者第三参是绝对弧长, 于是恒命中其 "p0.s() >= s - 0.01"
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
退化成按离散点向下取整。
- MatchPtByt: 把时间比例换算成对应弧长再传
- MatchPtByS / MatchMultiPtsByMultiS: 本就按 s 查, 直接传 s
- MatchMultiPtsByMultiS: 顺带修解引用 end() 的 UB 与 l/u 写反(该函数无调用方)
- InterpPtByLinearS: z_ 是被重载的字段(存挂车横摆角, 另有 10000 终止哨兵),
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
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、
cloud_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。
2026-07-29 14:56:18 +0800110e813513452226d19c6b61ef6ade1f9018d9cafix: 修复 TrajectoryPoints 三处按弧长插值的参数误用editdata/common/trajectory_point.cpp
- Testing/pjpo_case_test.cppalgorithm/plan/pjpo.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.cppalgorithm/plan/pjpo.hpptasks/plan/pjpo_task.cppda4be3630541b4f5bdbf9c92a634bdf9edf092ca1785308190000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲
一、变道横移走不完(车挪 1~3m 就停住, 路径起点段变直)
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
0, 路径形状再对车也不动。两处把它压到 0:
- 起点 dl 在变道场景恢复硬约束(新增 soften_init_dl)。dcf2390c1 为治 side-pass
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
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
无代价), 实测逐帧 0.113 -> 0.0137 -> 0.00065。
- kInitDlOutwardMax 的"向外"判据改为相对 path_reference_l。原按 init_l 符号判,
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/
init_dl=0.06), 起点斜率被夹死在 0.05。
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
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。
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)
- 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
±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
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。
- config_local 的 lane_change_weight.dl_weight 20->5000(不在本仓库, 需单独同步)
压 dl 峰值治"急": 峰值 0.42->0.30, 拐点 2->0, 收敛距离 18m->44.5m。
三、连带修复
- 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
为 init 值(硬等式), 与 dx 的 box 约束矛盾时 OSQP 直接 primal infeasible, 而变道
关闭了 all_soft 兜底, 会一路掉到 last_path fallback。
- 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
往返; 失败自动回退反算。
- PjpoConstraintOptions 序列化补 enable_all_soft_fallback(版本 2->3)。生产置 false
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。
- 新增离线工具 AnalyzeDlBoundEffect(扫 dl 上限/权重, 打印 opt_dl 曲线与拐点数)与
SidePassOutwardClampRegression(比对新旧向外判据并校验解是否退化)。
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
旧判据误夹的纠正(车朝走廊中点走却被当成向外漂移)。
2026-07-29 14:56:30 +0800da4be3630541b4f5bdbf9c92a634bdf9edf092cafix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲edittasks/plan/pjpo_task.cppeditalgorithm/plan/pjpo.hppeditalgorithm/plan/pjpo.cppeditTesting/pjpo_case_test.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/plan/start_point_data.cpp
- data/plan/cloud_trajectory.cppdata/plan/cloud_trajectory.hpp8625a005fd68e71ee1e7bdf936f0c6edfc0d9b7e1785308274000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 云端轨迹下发各 lane 的剩余长度与总长度
Traj.msg 的 length_s/total_length_s 与 lane_ids 逐项对齐, 取值来自
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
lane 取引导线覆盖的全长; 变道备用引导线不下发长度。
2026-07-29 14:57:54 +08008625a005fd68e71ee1e7bdf936f0c6edfc0d9b7efeat: 云端轨迹下发各 lane 的剩余长度与总长度editdata/plan/cloud_trajectory.cppeditdata/plan/cloud_trajectory.hpp
- hmi/draw/draw_path_boundary.hpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpphmi/draw/draw_path_boundary.cpp30cbd506d639839b8df2171d9863099ea94920481785308450000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: HMI 显示 road boundary 的 shift type
在 road boundary 左边界点旁标注每段的 shift type, 类型跳变处各标一个,
同类型连续断面不重复标。
文字画在 cv::flip 之后(flip 前画会上下颠倒), 沿用 DrawReverseApproach
的两段式: Draw 阶段只缓存 UTM 锚点, DrawText 做坐标变换并出字。
2026-07-29 15:00:50 +080030cbd506d639839b8df2171d9863099ea9492048feat: HMI 显示 road boundary 的 shift typeedithmi/draw/draw_path_boundary.hppedithmi/draw/draw_all.cppedithmi/draw/draw_path_boundary.cppedithmi/widget/pnc_mat_shared.cpp
- hmi/draw/draw_all.cpphmi/widget/pnc_mat_shared.cpp3359cfe5cd2ae8331fcf07d12735f02b624b095e1785309268000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复合并的bug
2026-07-29 15:14:28 +08003359cfe5cd2ae8331fcf07d12735f02b624b095efix:修复合并的bugedithmi/widget/pnc_mat_shared.cppedithmi/draw/draw_all.cpp
- tasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.hppalgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.cce616fd804dd4aad2831290b29e1549a66b725bf21785314847000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: KEB: 集卡lane follow优化轨迹末状态使用软约束、调整参数
2026-07-29 16:47:27 +0800e616fd804dd4aad2831290b29e1549a66b725bf2chore: KEB: 集卡lane follow优化轨迹末状态使用软约束、调整参数editoffboard/keb_path_opt_cli/keb_simulator.cceditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.cppeditalgorithm/plan/keb_optimizer.hpp
- data/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cpptasks/deciders/long_decider/constrain_decider.hppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppconfig/config_car/plan.yaml2cb8008ddd943e956a7667b785fe21445e451fbc1785408966000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加堆高机侧向吊具高度防护
按堆高机与车身的横纵向位置及垂直朝向识别侧向作业场景。
场景内采用可配置的 5.5 米吊具高度阈值，并追加角度、横向距离和纵向容错配置及回放序列化。
2026-07-30 18:56:06 +08002cb8008ddd943e956a7667b785fe21445e451fbcfeat: 增加堆高机侧向吊具高度防护edittasks/deciders/long_decider/constrain_decider.hppeditconfig/config_car/plan.yamleditdata/config/cfg_safe_const.hppeditconfig/config_imv/plan.yamleditconfig/config_truck/plan.yamledittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_safe_const.cpp
- data/obstacle/perception_obstacle.cpphmi/draw/draw_perception.cppdata/obstacle/perception_obstacle.hpp24e2a381bfc70845ed38184b533569d90d508a051785409016000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 显示障碍物朝向与速度方向
修正速度方向访问器，并为外部聚类障碍物初始化速度方向。
HMI 使用较浅、较短的箭头区分 heading 和速度方向，同时过滤场桥虚拟障碍物及聚类障碍物。
2026-07-30 18:56:56 +080024e2a381bfc70845ed38184b533569d90d508a05feat: 显示障碍物朝向与速度方向editdata/obstacle/perception_obstacle.cppedithmi/draw/draw_perception.cppeditdata/obstacle/perception_obstacle.hpp
- data/common/sl_boundary.hppf41124c53ec2aa4a916cb59387feefcc7eec9a1d1785411717000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 补充 SL 边界语义访问器
新增左右边界、中心位置及横纵向跨度访问接口，统一屏蔽 start/end 顺序差异。
补充数学函数直接依赖，并整理头文件格式。
2026-07-30 19:41:57 +0800f41124c53ec2aa4a916cb59387feefcc7eec9a1dfeat: 补充 SL 边界语义访问器editdata/common/sl_boundary.hpp
githttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.crhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing254http://159.27.114.184:8080/jenkins/user/yangyuxing/my-views/view/all/job/telediagnostic/254/