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"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" : 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"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" : [ "tasks/plan/keb_utils.cpp", "data/obstacle/decision/obstacle_decision.hpp", "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" : "edit", "file" : "data/obstacle/obstacle_decider_attr.hpp" }, { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.cpp" }, { "editType" : "edit", "file" : "tasks/plan/keb_utils.cpp" }, { "editType" : "add", "file" : "data/obstacle/decision/obstacle_decision.cpp" }, { "editType" : "add", "file" : "data/obstacle/decision/obstacle_decision.hpp" }, { "editType" : "edit", "file" : "tasks/deciders/other_decider/obstacle_decider.cpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/trajectory_cost.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/config/cfg_lat_plan.hpp", "tasks/deciders/lat_decider/trailer_side_pass_decider.cpp", "replayer/replayer_data_process/replayer_data_process.cpp", "data/boundary/driving_corridor.cpp", "data/config/cfg_lat_plan.cpp", "tasks/deciders/lat_decider/side_pass_decider.cpp", "data/boundary/driving_corridor.hpp" ], "commitId" : "4c6347125137a837135fd420306b5564fb539b50", "timestamp" : 1784514474000, "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" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.hpp" }, { 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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.cpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/decision_trace.hpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/app/fsm/task_fsm/task_fsm.cpp" ], "commitId" : "5e94cf0938c76aee4944c9521d1073f2e917a140", "timestamp" : 1784531577000, "author" : { "absoluteUrl" : "http://159.27.114.184:8080/jenkins/user/wuyanjun110", "fullName" : "wuyanjun110" }, "authorEmail" : "wuyanjun110@126.com", "comment" : "fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入\u000a", "date" : "2026-07-20 15:12:57 +0800", "id" : "5e94cf0938c76aee4944c9521d1073f2e917a140", "msg" : "fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入", "paths" : [ { "editType" : "edit", "file" : "data/app/fsm/task_fsm/task_fsm.cpp" } ] }, { "_class" : "hudson.plugins.git.GitChangeSet", "affectedPaths" : [ "data/boundary/driving_corridor.cpp", "hmi/draw/draw_perception.cpp", "data/dp_poly_path/decision_trace.hpp", "data/obstacle/perception_obstacle.hpp", "tasks/deciders/long_decider/constrain_decider.hpp", "data/constrain/longitude_constrain.cpp", "tasks/deciders/long_decider/constrain_decider.cpp", "data/config/cfg_func_sw.hpp", "data/config/cfg_func_sw.cpp", "data/dp_poly_path/trajectory_cost.cpp", "data/obstacle/perception_obstacle.cpp", "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/config/cfg_safe_const.hpp" }, { "editType" : "edit", "file" : "data/constrain/longitude_constrain.hpp" }, { "editType" : "edit", "file" : "data/dp_poly_path/trajectory_cost.cpp" }, { "editType" : "edit", "file" : "data/obstacle/perception_obstacle.cpp" }, { "editType" : "edit", "file" : "data/boundary/driving_corridor.cpp" }, { "editType" : "edit", "file" : "data/obstacle/obstacle_decider_attr.cpp" }, { "editType" : "edit", "file" : "tasks/deciders/long_decider/constrain_decider.cpp" }, { "editType" : "edit", 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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" : 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"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 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