Console Output

Warning: A secret was passed to "httpRequest" using Groovy String interpolation, which is insecure.
		 Affected argument(s) used the following variable(s): [gitlabToken]
		 See https://jenkins.io/redirect/groovy-string-interpolation for details.
HttpMethod: GET
URL: http://159.27.226.4/api/v4/projects/8/repository/commits/28af30520
Content-Type: application/json
PRIVATE-TOKEN: *****
Sending request to url: http://159.27.226.4/api/v4/projects/8/repository/commits/28af30520
Response Code: HTTP/1.1 200 OK
Response: 
{"id":"28af30520aeb0357dc8402873c33ae0904185c21","short_id":"28af3052","created_at":"2026-07-28T08:26:02.000+08:00","parent_ids":["92088627602c301bd21d516bfa3654bcba0cc818"],"title":"feat: 逆向车道快速接近凸包停车防护(cluster兜底)","message":"feat: 逆向车道快速接近凸包停车防护(cluster兜底)\n\n对向来车未被感知分类为obj、只输出TYPE_CLUSTER时, PNC纵向决策对它完全无反应:\ncluster不进interested因而无decider_attr, FromHis跳过它因而无历史, ST按静态建\n且不进path_time_obstacles_, 唯一影响是写OGM当前占用-\u003e只限速不停车。对\"点云少+\n速度快\"的逆向来车, 等它进自车path时已无刹停距离。\n\ncluster无id概念、前后帧id不对应, 因此判据做成不依赖id的标量时序:\n- 逆向车道链: 自车已驶入转弯lane(无逆向邻车道)时沿参考线回退到弯道前直道作\n  锚点, 再沿直道predecessor往上游延伸, 终止条件是\"自车上游累计长度够不够\",\n  不是级数/链总长(单条lane就可能几百米, 按总长封顶会一次都延伸不进去)\n- 冲突区: 自车走廊与对向道路判定带的重叠段, 不用两条中心线求交 —— 车体有\n  宽度, 中心线不相交时车照样扫过去\n- 判据: cluster投影到逆向链自身量弧长(不碰guide的SL, 规避弯道投影问题),\n  帧级批量关联维持航迹, 两车占用冲突区的时间窗交叠即触发\n\n防误停三道门: 路沿侧边界内缩、接近速度死区、航迹成熟度。\n停止线保持2s防判据抖动导致点头; 车头横向切入对向道路超阈则整体释放 —— 进区\n后再停等于横在对向道上挡路, 比抢过去更危险。\n\n灰度use_reverse_approach_stop默认关, 12项参数均可rosparam调。\nHMI\"逆向车道接近\"菜单画链/道路边界/判定带/冲突区/命中cluster, 状态行给出各道\n门的通过情况。","author_name":"allen","author_email":"wuyanjun110@126.com","authored_date":"2026-07-28T08:26:02.000+08:00","committer_name":"allen","committer_email":"wuyanjun110@126.com","committed_date":"2026-07-28T08:26:02.000+08:00","trailers":{},"web_url":"http://159.27.226.4/pnc/pnc/-/commit/28af30520aeb0357dc8402873c33ae0904185c21","stats":{"additions":1524,"deletions":0,"total":1524},"status":null,"project_id":8,"last_pipeline":null}
Success: Status code 200 is in the accepted range: 100:399