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orinRos2Choice.groovyeditsrc/org/orin/orinRos2Choice.groovysrc/org/orin/orinRos2ModuleChoice.groovy11ed2ee5a9d2c55a8850aee967e71310836e93e61788925310000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinRos2ModuleChoice.groovy 2026-09-09 03:41:50 +000011ed2ee5a9d2c55a8850aee967e71310836e93e6Update orinRos2ModuleChoice.groovyeditsrc/org/orin/orinRos2ModuleChoice.groovygittelediagnostic.jenkinsfile6eb97d4117968259a56492db531ec2af5e3635851789124333000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate telediagnostic.jenkinsfile 2026-09-11 10:58:53 +00006eb97d4117968259a56492db531ec2af5e363585Update telediagnostic.jenkinsfileedittelediagnostic.jenkinsfilegitconfig/imv/rslidar_config_all_in_one.yamlsrc/adapter/point_cloud_ros_adapter.hppconfig/imv/rslidar_config_all_in_one_offline.yamlconfig/config.yaml0fa5e53ddd6f7ebd530f800d2d7110f101c991d01789033965000http://159.27.114.184:8080/jenkins/user/xiaosonglanxiaosonglanxiaosonglan@gmail.comfix: /msf/dr_pose 的 pose_frame_id 应为 imu, 不是 base_ground pose_frame_id 决定 lookupTransform(pose_frame_id, frame_id_) 取到的 trans_lidar_to_imu —— 即把点云搬到「位姿所在刚体」的外参, 所以它必须和 pose 话题描述的刚体对上: /msf/imu_pose_raw_estimate -> imu_raw (原本就对) /msf/dr_pose -> imu (原先错写成 base_ground) /vehicle/localization -> base_ground (原先没有这条分支) 原先 dr_pose 被强制成 base_ground, 力臂差了整整 5.007m: 干线 AT002 车上 tf_static 实测 base_ground->imu = (4.450, 0.760, 2.165) 且旋转差 0.000°, 即 imu->lidar_front=(1.688,-0.780,0.810) vs base_ground->lidar_front=(6.138,-0.020,2.975)。补偿误差 ≈ 帧内转角 × 5.007m。用 AT002「直行+转弯」实包(2038 条 dr_pose, 车速中位 6.89 m/s / 最大 21.6 m/s)按四元数帧间差算 100ms 内转角: 中位 0.1263° -> 1.10 cm P90 0.3313° -> 2.90 cm P99 0.7755° -> 6.78 cm 最大 1.1158° -> 9.76 cm 直行时转角趋零、误差趋零 —— 港口对位场景基本蠕行, 所以这个 bug 被掩盖了一年, 干线车高速转弯才显现。刚体归属由定位侧确认: dr_pose=imu, imu_pose_raw_estimate=imu_raw, vehicle/localization=base_ground。 ⚠️ config 侧一并改: config.yaml 与 imv/rslidar_config_all_in_one{,_offline}.yaml 共 17 处 pose_frame_id 原为 base_ground(topic 全是 /msf/dr_pose), 改为 imu, 注释同步写全三种映射。这些是港口车在用的配置, 下次部署后补偿结果会变化(变正确), 涉及历史标注/建图数据一致性, 需与定位组和数据侧确认后再下发。源头是 rslidar_sdk_new 的 4cd98d4(2025-09-24, zhjfeng, feat_out:增加运动补偿处理), 本仓库同款实现。rslidar_sdk_new 的 dev_ros2/rc_dev/dev 与 hesai_lidar 一并修正。 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_017V8WSMEpax2mkbuxiXr7FK 2026-09-10 05:52:45 -04000fa5e53ddd6f7ebd530f800d2d7110f101c991d0fix: /msf/dr_pose 的 pose_frame_id 应为 imu, 不是 base_groundeditconfig/config.yamleditconfig/imv/rslidar_config_all_in_one_offline.yamleditconfig/imv/rslidar_config_all_in_one.yamleditsrc/adapter/point_cloud_ros_adapter.hppconfig/truck/rslidar_config_top_up_offline.yamlconfig/truck/rslidar_config_right_offline.yamlconfig/imv/rslidar_config_right_rear_offline.yamlconfig/imv/rslidar_config_right_front_offline.yamlconfig/imv/rslidar_config_left_rear_down_offline.yamlconfig/imv/rslidar_config_left_rear_down.yamlconfig/imv/rslidar_config_right_front_down_offline.yamlconfig/imv/rslidar_config_left_front_up_offline.yamlconfig/imv/rslidar_config_left_front_up.yamlconfig/imv/rslidar_config_left_front_up_offline_bp4.yamlconfig/imv/rslidar_config_left_rear_down_offline_bp4.yamlconfig/imv/rslidar_config_right_front_down_offline_bp4.yamlconfig/imv/rslidar_config_right_rear_up_offline.yamlconfig/truck/rslidar_config_top.yamlconfig/imv/rslidar_config_left_rear_offline.yamlconfig/truck/rslidar_config_top_up.yamlconfig/imv/rslidar_config_right_rear_down_offline_bp4.yamlconfig/imv/rslidar_config_left_front_down_offline_bp4.yamlconfig/truck/rslidar_config_left_down.yamlconfig/truck/rslidar_config_left_offline.yamlconfig/imv/rslidar_config_right_front_down.yamlconfig/imv/rslidar_config_right_front.yamlconfig/imv/rslidar_config_left_front.yamlconfig/truck/rslidar_config_right_down.yamlconfig/truck/rslidar_config_top_up_offline_bp4.yamlconfig/imv/rslidar_config_right_rear_up_offline_bp4.yamlconfig/truck/rslidar_config_top_offline.yamlconfig/truck/rslidar_config_right_down_offline_bp4.yamlconfig/truck/rslidar_config_left_down_offline.yamlconfig/imv/rslidar_config_left_rear.yamlconfig/truck/rslidar_config_left.yamlconfig/imv/rslidar_config_right_rear_up.yamlconfig/truck/rslidar_config_right.yamlconfig/truck/rslidar_config_left_down_offline_bp4.yamlconfig/truck/rslidar_config_rear_down_offline_bp4.yamlconfig/imv/rslidar_config_left_front_offline.yamlconfig/truck/rslidar_config_right_down_offline.yamlconfig/imv/rslidar_config_right_rear.yaml378d00df455683c9571a7bf0793880b8730e900a1789034312000http://159.27.114.184:8080/jenkins/user/xiaosonglanxiaosonglanxiaosonglan@gmail.comfix: 补齐 imv/truck 下 38 个单雷达 config 的 pose_frame_id 上一个提交只改了 config.yaml 与 imv/rslidar_config_all_in_one{,_offline}.yaml 共 17 处, 漏掉 config/imv/(22 个) 与 config/truck/(16 个) 下的单雷达配置 —— 它们的 ros_recv_pose_topic 同样是 /msf/dr_pose, pose_frame_id 也同样错写成 base_ground。原因是我当时用 git grep -c 列文件时 head -3 截断了输出, 把前 3 个文件当成了全部。现在按 ros_recv_pose_topic 配对全量修正仓库内所有 yaml: /msf/imu_pose_raw_estimate -> imu_raw /msf/dr_pose -> imu /vehicle/localization -> base_ground via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_017V8WSMEpax2mkbuxiXr7FK 2026-09-10 05:58:32 -0400378d00df455683c9571a7bf0793880b8730e900afix: 补齐 imv/truck 下 38 个单雷达 config 的 pose_frame_ideditconfig/imv/rslidar_config_left_rear_down.yamleditconfig/imv/rslidar_config_left_rear_offline.yamleditconfig/truck/rslidar_config_right.yamleditconfig/truck/rslidar_config_top_up_offline.yamleditconfig/imv/rslidar_config_left_front_up_offline.yamleditconfig/imv/rslidar_config_left_rear.yamleditconfig/truck/rslidar_config_left.yamleditconfig/truck/rslidar_config_top_up_offline_bp4.yamleditconfig/imv/rslidar_config_right_rear_down_offline_bp4.yamleditconfig/imv/rslidar_config_left_front_offline.yamleditconfig/truck/rslidar_config_right_down.yamleditconfig/truck/rslidar_config_left_down_offline_bp4.yamleditconfig/truck/rslidar_config_right_offline.yamleditconfig/imv/rslidar_config_right_rear_up_offline.yamleditconfig/truck/rslidar_config_top_up.yamleditconfig/imv/rslidar_config_left_front_down_offline_bp4.yamleditconfig/truck/rslidar_config_left_down_offline.yamleditconfig/truck/rslidar_config_left_down.yamleditconfig/truck/rslidar_config_top_offline.yamleditconfig/imv/rslidar_config_right_rear_up.yamleditconfig/truck/rslidar_config_rear_down_offline_bp4.yamleditconfig/truck/rslidar_config_right_down_offline_bp4.yamleditconfig/imv/rslidar_config_left_front_up.yamleditconfig/imv/rslidar_config_right_rear_offline.yamleditconfig/truck/rslidar_config_right_down_offline.yamleditconfig/truck/rslidar_config_left_offline.yamleditconfig/imv/rslidar_config_right_front_down.yamleditconfig/imv/rslidar_config_right_rear.yamleditconfig/truck/rslidar_config_top.yamleditconfig/imv/rslidar_config_right_front_down_offline.yamleditconfig/imv/rslidar_config_left_rear_down_offline_bp4.yamleditconfig/imv/rslidar_config_right_front_down_offline_bp4.yamleditconfig/imv/rslidar_config_right_front_offline.yamleditconfig/imv/rslidar_config_left_front_up_offline_bp4.yamleditconfig/imv/rslidar_config_right_front.yamleditconfig/imv/rslidar_config_left_front.yamleditconfig/imv/rslidar_config_left_rear_down_offline.yamleditconfig/imv/rslidar_config_right_rear_up_offline_bp4.yamlgitdata/other/flow_control.cppTesting/ssep_path_corridor_test.cppbe54d79c9ef1f67c7c511cd9e90d5a33879c7cbb1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 放宽 BulkOut 两点判定的横向容差将 BulkOut 正反向两点兜底容差设为 10 米，BulkIn 保持 5 米，避免首任务尚无搜索结果时横向调整导致漏判。保留纵向与航向约束，增加现场坐标、容差边界及反向判定回归。 2026-09-07 09:52:54 +0800be54d79c9ef1f67c7c511cd9e90d5a33879c7cbbfix: 放宽 BulkOut 两点判定的横向容差editdata/other/flow_control.cppeditTesting/ssep_path_corridor_test.cppdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cpp6c5f594b1934396700af1709d37d20caf34105c21788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一双向 IMV 搜索包络的换向航向补偿将搜索车头相对物理车头的翻转与 vehicle_state 的 reversing_mode 异或，覆盖搜索成功帧及多段换向前后的方向更新。包络匹配和换向点航向检查共用补偿逻辑，保留单向车型及终点退出约束。增加现场首点和连续两次换向回归。 2026-09-07 09:52:54 +08006c5f594b1934396700af1709d37d20caf34105c2fix: 统一双向 IMV 搜索包络的换向航向补偿editdata/plan/ssep_data.cppeditTesting/ssep_path_corridor_test.cppdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hda90b573e4e558c81c5a13c6b0195951177c6b151788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 通过通用参数保持 BulkOut 搜索的车头身份新增 allow_start_heading_flip 参数，经 extra_params 和规划器工厂传递，默认保留旧行为并校验参数值。振石 BulkOut 调用端禁用起点航向翻转，同时保留途中双向搜索与末段前进约束。原始场景回放成功，生成前进、倒车、前进三段并通过碰撞检查。 2026-09-07 09:52:54 +0800da90b573e4e558c81c5a13c6b0195951177c6b15fix: 通过通用参数保持 BulkOut 搜索的车头身份editdata/ssep/forward_ec.cppeditssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.hTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cppcecc6d0adb8d208b89286441ffcd12d9dcb1cd3a1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理无搜索阶段的错误重规划上下文依据当前阶段实际配置的 SSEP_TASK 判断搜索能力，避免普通路口沿线规划误报连续路口搜索重规划。无搜索阶段在冷却判断前清理重规划原因、搜索请求和历史路径保留状态，防止 routing 换向后复用旧参考线。增加有无搜索任务及冷却期残留回归，现场 snapshot 的 24 帧恢复引导线匹配。 2026-09-07 09:52:54 +0800cecc6d0adb8d208b89286441ffcd12d9dcb1cd3afix: 清理无搜索阶段的错误重规划上下文edittasks/deciders/other_decider/replan_decider.cppeditTesting/ssep_path_corridor_test.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.h3b9dbc984ae916bd8de434f3b4ab643a1cdb6b131788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 还原反向作业的 IMV 搜索物理车头朝向禁止起点航向翻转时，根据反向作业模式还原起点 heading 并转换方向，使末段前进约束对应物理车头。构建和执行搜索统一转换，两段组合搜索在途经点后不重复翻转。首任务与反向作业两例现场回放通过，保留途中倒车能力。 2026-09-07 09:52:54 +08003b9dbc984ae916bd8de434f3b4ab643a1cdb6b13fix: 还原反向作业的 IMV 搜索物理车头朝向editssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.hssep/test/local_regression/path_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/imv_bulkout_manifest.tsvssep/test/local_regression/bulkout_initial_quality.json28c4ac7705b5dd72b98636297bc81649eaefb2921788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 BulkOut 物理车头与路径质量回归收录首任务和反向作业重搜两例共享场景，独立验证物理起点航向、末段实际前进、终点误差、换向连续性、运动几何、长度和耗时，并要求最终碰撞检查证据。通过仓库 Proto 解析实际回放输出，保留输入副本、日志及质量报告。增加十一项验收器正反例与非法配置检查，逐例汇总异常；两例完整质量回归通过。 2026-09-07 09:52:54 +080028c4ac7705b5dd72b98636297bc81649eaefb292test: 增加 BulkOut 物理车头与路径质量回归addssep/test/local_regression/imv_bulkout_manifest.tsveditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/test_path_quality.pyaddssep/test/local_regression/bulkout_reverse_quality.jsoneditssep/test/local_regression/README.mdaddssep/test/local_regression/bulkout_initial_quality.jsonaddssep/test/local_regression/path_quality.pydata/ssep/forward_ec.cppplan/prepare/prepare_ogm.cppplan/prepare/prepare_ogm.hpp9b6d06c9c7f42df51766423d2131988dc67599a71788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为振石 BulkOut 搜索保留完整后方点云从当前帧原始 OGM 点单独重建搜索线障碍，避免执行阶段的后方忽略状态污染多向重搜输入。执行 OGM 与原始点云保持不变，原始点云无效时拒绝构造不完整搜索环境。 2026-09-07 09:52:54 +08009b6d06c9c7f42df51766423d2131988dc67599a7fix: 为振石 BulkOut 搜索保留完整后方点云editdata/ssep/forward_ec.cppeditplan/prepare/prepare_ogm.cppeditplan/prepare/prepare_ogm.hppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_search_extra_params.hdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hCMakeLists.txtconfig/config_imv/ssep_port_scenarios_zhenshi.yamlssep/scenarios/imv_extra_params_compat.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_general_planner.hdata/ssep/ssep_ec.hppssep/scenarios/imv_multi_segment_parking_planner.hssep/ssep_planner.ccdata/ssep/ssep_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ha5753050594ac7416d5fab3df723aa1b4fd6f9d71788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 统一振石 IMV 场景的搜索参数配置复用现有场景 YAML 到 SsepInput.extra_params 链路，为 BulkOut、带途经点 BulkIn 和普通 BulkIn 提供场景级参数。IMVGeneral 通过通用方向、车头身份、碰撞裕量和方向代价参数构造搜索，不再使用振石专用构造开关；历史输入在规划入口转换为等价通用参数。显式参数会绕过不兼容的路径仓库与通用热启动，参数解析失败时明确返回错误。 2026-09-07 09:53:22 +0800a5753050594ac7416d5fab3df723aa1b4fd6f9d7feat: 统一振石 IMV 场景的搜索参数配置addssep/scenarios/imv_extra_params_compat.heditdata/ssep/ssep_ec.cppaddssep/scenarios/imv_search_extra_params.heditssep/scenarios/imv_enter_station_planner.heditssep/ssep_planner.cceditdata/ssep/ssep_ec.hppeditssep/scenarios/scenario_planner_factory.heditCMakeLists.txteditdata/ssep/forward_ec.cppeditTesting/ssep_path_corridor_test.cppaddconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditssep/scenarios/imv_general_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_multi_segment_parking_planner.hssep/offboard/ssep_input_provider.hssep/offboard/ssep_input_provider.ccssep/test/local_regression/test_replay_input.pyssep/offboard/scene_replay/replay_ssep_input_cli.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_raw_replay_cli.py19fc888358f87917287ca2fa6eaabd21d5c943351788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 严格区分 SSEP 原样回归与参数实验默认按录制输入中的 extra_params 回放，只有显式参数实验才应用质量配置覆盖，并在产物中记录模式和覆盖项。原始输入回放工具新增参数覆盖入口；解析失败、输入缺失、空目录和规划失败在严格模式下均返回非零。 2026-09-07 09:53:22 +080019fc888358f87917287ca2fa6eaabd21d5c94335test: 严格区分 SSEP 原样回归与参数实验editssep/offboard/ssep_input_provider.heditssep/test/local_regression/run_ssep_regression.pyeditssep/offboard/scene_replay/replay_ssep_input_cli.cceditssep/offboard/ssep_input_provider.ccaddssep/test/local_regression/test_raw_replay_cli.pyaddssep/test/local_regression/test_replay_input.pyeditssep/test/local_regression/README.mdalgorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpptasks/plan/path_optimization_task.cppTesting/fixtures/wbca_smooth_20260907_1056.hppTesting/wbca_smooth_continuity_test.cppalgorithm/wbca/imv_wbca_manager.hppTesting/fixtures/wbca_smooth_20260907.hppalgorithm/wbca/path_optimization/path_optimization.cppCMakeLists.txttasks/plan/path_optimization_task.hppTesting/fixtures/wbca_smooth_20260907_1129.hpp6b8e9d0d21d8b1fcb8ef0e1893b9ee40adb132861788757159000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: preserve full WBCA history across planning modes Share full-history preservation between SMOOTH and NORMAL direct-MINCO routes, retain planning boundary derivatives, and stabilize no-shift mode selection within PathOptimizationTask. Add snapshot-derived continuity regressions and remove temporary diagnostics. 2026-09-07 12:59:19 +08006b8e9d0d21d8b1fcb8ef0e1893b9ee40adb13286fix: preserve full WBCA history across planning modeseditalgorithm/wbca/imv_wbca_manager.hppeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/path_optimization/path_optimization.cppeditCMakeLists.txtaddTesting/wbca_smooth_continuity_test.cppedittasks/plan/path_optimization_task.hppaddTesting/fixtures/wbca_smooth_20260907_1129.hppedittasks/plan/path_optimization_task.cppeditalgorithm/wbca/imv_wbca_manager.cppaddTesting/fixtures/wbca_smooth_20260907_1056.hppeditalgorithm/wbca/wbca_manager.hppaddTesting/fixtures/wbca_smooth_20260907.hpptasks/plan/smooth_task.cppdata/plan/ssep_data.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/plan/ssep_data.hpptasks/plan/keb_path_optimize_task.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.hpptasks/other_tasks/create_reference_line.cppef96197a59beacebe0f4a91adcdc2299a8ea6d501788774291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 重搜期间复用成功路径并实时更新参考线锁存当前路口最后成功的 SSEP 路径，每帧从完整缓存拼接实时参考线，保留物理末点并处理滚动地图起点裁剪。普通路口构建失败时保留累计次数；重试耗尽后清理请求，有成功路径则继续拼接，无成功路径则恢复正常参考线更新。退出搜索时清理等待状态和旧包络，补齐缓存路径的快照坐标转换及投影重建。保持期间沿实时引导线进行局部规划，避免有限历史输出耗尽。验证：参考线与重规划状态回归，以及纵向停车和连续性回归。 2026-09-07 17:44:51 +0800ef96197a59beacebe0f4a91adcdc2299a8ea6d50fix: 重搜期间复用成功路径并实时更新参考线editTesting/reference_line_replan_test.cppedittasks/plan/smooth_task.cppedittasks/plan/keb_path_optimize_task.cppeditdata/plan/ssep_data.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.hppedittasks/other_tasks/stitch_path_to_reference_line.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/other_tasks/create_reference_line.cppeditdata/plan/ssep_data.hpptasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_utils_core.cppreplayer/replayer_data_process/replayer_data_extraction.cppCMakeLists.txttasks/plan/keb_utils.cppoffboard/keb_path_opt_cli/README.mdtasks/plan/keb_utils_core.hppoffboard/keb_path_opt_cli/local_regression/README.mdalgorithm/plan/keb_optimizer.cppTesting/keb_fixed_tail_test.cppoffboard/keb_path_opt_cli/keb_simulator.cc70784b598274cb5b48d54cde4ae986b21a0794ea1788774330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 自适应调整 KEB 固定尾段优化范围预检 IMV LaneFollow 的固定尾段，必要时在当前段终点范围内有界前移滚动目标，最多检查四个候选且只求解一次。检查热启动固定尾段，边界不合法时回退冷启动；最终输出保留完整边界校验。按实车匹配点计算允许前移距离，同步在线、GUI/CLI 提取、离线回放及 HMI 实际目标；新 KebScene 显式保存前移上限，兼容旧数据。添加固定段与终点范围回归，并将出堆场 103 帧原始数据登记到共享回归清单。验证：固定尾段单元测试、完整 KEB 回归清单和 pnc_node 构建。 2026-09-07 17:45:30 +080070784b598274cb5b48d54cde4ae986b21a0794eafix: 自适应调整 KEB 固定尾段优化范围editoffboard/bag_to_keb_scene/bag_to_keb_scene.ccedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.hppeditoffboard/keb_path_opt_cli/README.mdeditoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/local_regression/README.mdaddTesting/keb_fixed_tail_test.cppeditalgorithm/plan/keb_optimizer.cppedittasks/plan/keb_utils_core.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppedittasks/plan/keb_utils_core.hppeditCMakeLists.txteditproto/keb_scene.protoeditoffboard/keb_path_opt_cli/keb_simulator.ccssep/test/local_regression/README.mdssep/test/local_regression/imv_out_yard_pending_cases.jsonfae88de2856a95acf2e39668796bd56902ac66a41788774349000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 归档出堆场内圈出口碰撞待修复案例登记异常和正常对照场景及原始搜索输入，记录共享数据路径和 SHA-256。明确内圈允许通行，问题是出口处车身碰撞；不得以必须走大圈或路径长度作为验收标准。记录添加超视距障碍物的规避方案，将算法问题保留为 deferred，不纳入仅校验搜索成功的必过清单。验证：四个原始文件校验一致，两份场景均可解析。 2026-09-07 17:45:49 +0800fae88de2856a95acf2e39668796bd56902ac66a4test: 归档出堆场内圈出口碰撞待修复案例addssep/test/local_regression/imv_out_yard_pending_cases.jsoneditssep/test/local_regression/README.mddata/config/cfg_static.hppdata/map/pnc_map/routing_extension/routing_data.cppTesting/routing_transition_test.cppCMakeLists.txtdata/map/pnc_map/routing_extension/routing_transition.hppdata/map/pnc_map/routing_extension/routing_data.hpp06f22cb96e630a15ea10919166754fc049aa79031788832537000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一分段路径衔接判定并修复双向 IMV 漏换向将方向计算和 openspace 入口统一为同向接续、直接换向与搜索衔接三类。双向 IMV 在纵向间隙不超过 1 米、横向偏差不超过 0.1 米、反向角偏差不超过 5 度时直接换向，修复 T304 因端点相距约 0.914 米而漏换向的问题。补齐缺失的 openspace 连接点并优先保留已有途经点，增加独立回归目标，覆盖方向初始化、段末停车、阈值边界和任务生命周期。为显式 10/11 掉头途经点与几何换向的优先级添加 TODO，当前保持原行为。 2026-09-08 09:55:37 +080006f22cb96e630a15ea10919166754fc049aa7903fix: 统一分段路径衔接判定并修复双向 IMV 漏换向editdata/config/cfg_static.hppadddata/map/pnc_map/routing_extension/routing_transition.hppeditdata/map/pnc_map/routing_extension/routing_data.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditCMakeLists.txtaddTesting/routing_transition_test.cppTesting/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp7087555b29af0107f6256b7f266e17f05fe742841788832554000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复重合端点的 openspace 建区退化端点重合时使用车道法向确定平行搜索框朝向，避免搜索范围错误依赖全局坐标轴。上下引桥连接线为零长度时，按车道航向直接构造扩展走廊，避免无效子多边形在合并时被丢弃。新增普通车型重合端点及上下引桥旋转回归。最终 12 项衔接回归与 14 项地图保护回归通过，pnc_node 集群构建成功。 2026-09-08 09:55:54 +08007087555b29af0107f6256b7f266e17f05fe74284fix: 修复重合端点的 openspace 建区退化editTesting/routing_transition_test.cppeditdata/map/pnc_map/routing_extension/routing_data.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/forward_ec.cpp894b6ed6a27b45f3857ca3a7d22f86f0e76c6f731788836917000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增津西区域识别并接入搜索配置依据津西 map_jx_20260903_v1.1.1 地图包围盒确定区域中心，沿用 WHBULK 的 3000 米识别半径，并在枚举末尾新增 JIN_XI。将津西接入 WHBULK 同类前进通道、参考线、途经点采样及终点通道兜底分支，并支持 TT/CAR 的通用搜索器回退选择。验证：地图全部 4633 个坐标点被覆盖，与现有 32 个区域不重叠； git diff --check 及工程 task 的 pnc_node 编译通过。 2026-09-08 11:08:37 +0800894b6ed6a27b45f3857ca3a7d22f86f0e76c6f73feat: 新增津西区域识别并接入搜索配置editdata/ssep/forward_ec.cppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_region.cppeditdata/config/cfg_region.hppTesting/ssep_path_corridor_test.cppssep/ssep_planner.ccssep/scenarios/imv_extra_params_compat.hssep/test/local_regression/README.mddata/ssep/forward_ec.cpp856a59b68229c3791c2ed2f23b449f8fba2e9fcf1788845864000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 移除振石出场硬编码参数及旧开关兼容删除 enable_zhenshi_bulkout_mode 的兼容转换及前进搜索中振石 BulkOut 的参数补充，搜索参数直接由 YAML 显式配置。缺项采用 planner 通用默认值，历史输入也不再自动展开旧开关。同步删除旧开关测试并更新参数配置说明，保留通用参数校验。 2026-09-08 13:37:44 +0800856a59b68229c3791c2ed2f23b449f8fba2e9fcfrefactor: 移除振石出场硬编码参数及旧开关兼容editdata/ssep/forward_ec.cppeditssep/ssep_planner.cceditssep/test/local_regression/README.mdeditTesting/ssep_path_corridor_test.cppdeletessep/scenarios/imv_extra_params_compat.hdata/plan/ssep_data.hppdata/ssep/forward_ec.cppCMakeLists.txtdocs/ssep_scenario_config_lifecycle.mddata/ssep/into_yard_junction_ec.hppdata/ssep/open_space_ec.cppdata/config/cfg_static.hppdata/ssep/open_space_ec.hppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_ec.hppdata/ssep/forward_ec.hppdata/ssep/ssep_ec.cppTesting/ssep_scenario_config_lifecycle_test.cpp5363de0da861e2496b85339ca2ec110a7dc11a081788845874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一搜索场景参数生命周期并保护配置优先级在公共场景匹配入口和 Reset 中清理旧 planner 与参数，避免未匹配、空配置和重复请求携带上次动态拉直参数。以匹配标记保护 YAML 选择，场地及车型默认仅用于未匹配回退；保留 CAR 换向、低贝位和远程引导等运行时切换。输出参数整组替换并清理旧远程引导线，投影失败时保留 YAML 且停止无效拉直计算。快照版本升级并兼容旧版读取。新增覆盖九类搜索的 47 项回归和逐场景检查文档。验证：47 项测试、pnc_node 编译及 git diff --check 通过。 2026-09-08 13:37:54 +08005363de0da861e2496b85339ca2ec110a7dc11a08fix: 统一搜索场景参数生命周期并保护配置优先级editdata/ssep/forward_ec.cppeditdata/ssep/ssep_ec.hppaddTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/into_yard_junction_ec.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/forward_ec.hppeditdata/ssep/open_space_ec.hppeditdata/ssep/ssep_ec.cppeditdata/ssep/open_space_ec.cppeditdata/config/cfg_static.hppadddocs/ssep_scenario_config_lifecycle.mdeditdata/plan/ssep_data.hppeditCMakeLists.txttasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp0942ec2b21bc9056d0fc2a74d0640ffed7b3c8281788876462000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 统一 KEB 路径优化的请求与结果处理将同步和异步优化收敛到共享的请求快照、求解和结果写回流程，后台线程不持有 Task 或 PlanFrame。拆分 SSEP 前置处理、重搜保持与 PJPO 兜底，保留 generation 失效保护和完整输出历史。检查路径投影写回结果，删除未使用成员、失效注释和无效的局部路径匹配。 2026-09-08 22:07:42 +08000942ec2b21bc9056d0fc2a74d0640ffed7b3c828refactor: 统一 KEB 路径优化的请求与结果处理edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_path_optimize_task.hppTesting/ssep_path_corridor_test.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hppscenarios/task_condition_evaluator.cpptasks/plan/keb_path_optimize_task.cppabaf5d01dcb656c9138007e91f34fede7bca4eef1788876560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持直行堆场路口 KEB 并保持切换路径连续 NORMAL_FOLLOW 使用 guide line 路口终点构建无 SSEP 的 KEB 输入，延伸距离保留为 0 米。首次异步等待时放行有效历史路径拼接；末端在区域切换前复用原路口输出，避免无轨迹停车。远处后续路口不抢占末端复用目标，进入下一路口后正常更新目标；失效输入和真实求解失败仍保留错误处理。补充选择器、终点、方向、异步等待、末端复用及 Reset 生命周期回归，兼容无 SSEP 的回放可视化输入。验证：pnc_node 和相关测试目标构建通过，74 项规划回归通过，回放基础测试通过 202/203 项。已知未解决项：既有 EncodingBenchmarkTest.ReportsSameGroupBoostAndCompactAblations 字节数重复性测试仍失败。 2026-09-08 22:09:20 +0800abaf5d01dcb656c9138007e91f34fede7bca4eeffeat: 支持直行堆场路口 KEB 并保持切换路径连续edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_utils.hppeditTesting/ssep_path_corridor_test.cppedittasks/plan/keb_path_optimize_task.cppeditscenarios/task_condition_evaluator.cppedittasks/plan/keb_utils.cppalgorithm/wbca/wbca_manager.cppTesting/wbca_smooth_continuity_test.cppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpp3f676e2239704a72d8be0a0780f4a3907db2cb531788956922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(wbca): align IMV smooth planning with shared route logic 2026-09-09 20:28:42 +08003f676e2239704a72d8be0a0780f4a3907db2cb53fix(wbca): align IMV smooth planning with shared route logiceditalgorithm/wbca/wbca_manager.cppeditTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/imv_wbca_manager.hppeditalgorithm/wbca/wbca_manager.hppgitalgorithm/ctrl/lon_controller/longitude_controller.cpp62c5cfb45716daf5fc8ec1e63d1ca513d4183f9e1750415840000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:emergency stop的时候，控制切换到 N档 2025-06-20 18:37:20 +080062c5cfb45716daf5fc8ec1e63d1ca513d4183f9erefactor:emergency stop的时候，控制切换到 N档editalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_state.cpp956f8a3473828368cc66a5e83051add64f16fdf71751007424000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: disable trailer_state when disable reversing truck controller. 2025-06-27 14:57:04 +0800956f8a3473828368cc66a5e83051add64f16fdf7fix: disable trailer_state when disable reversing truck controller.editnode/process/prepare/prepare_state.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppalgorithm/ctrl/parallel_controller/acc_augment_mpc.cppnode/sink/ros_sink_command.cpp27f18e13ab6249a0bf51a4cf1bb2d421979f864b1751616352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:平行驾驶的起始点的速度从历史轨迹上获取 2025-07-04 16:05:52 +080027f18e13ab6249a0bf51a4cf1bb2d421979f864bfeat:平行驾驶的起始点的速度从历史轨迹上获取editalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.cppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/ctrl_frame.hpp7acfceefa6df603996a6fa5093d2e097fbfb54f21751894674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整期望速度的滤波 2025-07-07 21:24:34 +08007acfceefa6df603996a6fa5093d2e097fbfb54f2fix:调整期望速度的滤波editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/ctrl_frame.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppae3a02987edd7aea21bce5557ce4f7e43b0cdcfa1752137695000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:平行驾驶的时候使用大的油门刹车表 2025-07-10 16:54:55 +0800ae3a02987edd7aea21bce5557ce4f7e43b0cdcfarefactor:平行驾驶的时候使用大的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/vehicle/vehicle_chassis.cpp1487a6739f9bfca101f3c2d889985aab07e8639a1753328797000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: chassis.steering_angle. 2025-07-24 11:46:37 +08001487a6739f9bfca101f3c2d889985aab07e8639afix: chassis.steering_angle.editdata/vehicle/vehicle_chassis.cppalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.cppf8862ad62e59762a23929c143f7f4c27b4e9db041753328817000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering stationary. 2025-07-24 11:46:57 +0800f8862ad62e59762a23929c143f7f4c27b4e9db04fix: steering stationary.editalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppnode/sink/ros_sink_command.cppd7f59e16e1b15079456007dc145752d99a486ade1753410977000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering_mode = auto for move_prepare. 2025-07-25 10:36:17 +0800d7f59e16e1b15079456007dc145752d99a486adefix: steering_mode = auto for move_prepare.editnode/sink/ros_sink_command.cppalgorithm/ctrl/lat_controller/augment_mpc.cpp3fae030da0e243933726301b4131ee6a7051d2261753688931000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steer_speed = 1.0 for stationary. 2025-07-28 15:48:51 +08003fae030da0e243933726301b4131ee6a7051d226fix: steer_speed = 1.0 for stationary.editalgorithm/ctrl/lat_controller/augment_mpc.cppnode/source/ros_source_parallel_cmd.cppf8ea2c9c7f4c269d1f7becac0d78c10a729e7c8e1754633847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:打开爬坡标志位 2025-08-08 14:17:27 +0800f8ea2c9c7f4c269d1f7becac0d78c10a729e7c8efeat:打开爬坡标志位editnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp350fd16a4e3aa149d53c8620a4a19338ca6761841754633868000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整远程步进最小规划速度 2025-08-08 14:17:48 +0800350fd16a4e3aa149d53c8620a4a19338ca676184feat:调整远程步进最小规划速度editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppc21e5539ea3d02ffb5fcc4edd67dfac57c07744f1754791109000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: del acc_mpc_.reset 2025-08-10 09:58:29 +0800c21e5539ea3d02ffb5fcc4edd67dfac57c07744ffix: del acc_mpc_.reseteditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cpp8e505c5c05c35fa3591005bcf67d074bbb93ecac1755139796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的油门刹车表 2025-08-14 10:49:56 +08008e505c5c05c35fa3591005bcf67d074bbb93ecacfeat:调整倒车的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.cppdata/config/cfg_parallel.hppfb1ccc005c3ee46fe267bfc3fe48cb2680db88831755151178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的前馈补偿。 2025-08-14 13:59:38 +0800fb1ccc005c3ee46fe267bfc3fe48cb2680db8883feat:调整倒车的前馈补偿。editdata/config/cfg_parallel.hppeditdata/config/cfg_parallel.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppdata/plan/plan_data.cpp30e4489b2b6065fa68a3933f0980b753b3b5e8711755659616000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整安全模块的接口，需和安全模块一块更新 2025-08-20 11:13:36 +080030e4489b2b6065fa68a3933f0980b753b3b5e871feat:调整安全模块的接口，需和安全模块一块更新editdata/plan/plan_data.cppeditnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppdata/plan/plan_data.hppnode/sink/ros_sink_command.cppd60b3ccfe7297adc7411bf5e08901cedc463fa3c1755681638000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:编译的buy 2025-08-20 17:20:38 +0800d60b3ccfe7297adc7411bf5e08901cedc463fa3cfix:编译的buyeditdata/plan/plan_data.hppeditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppd663245c3ba11577d64c5dae9abb973d165fa9521758430138000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:对准时，刹车的问题 2025-09-21 12:48:58 +0800d663245c3ba11577d64c5dae9abb973d165fa952feat:对准时，刹车的问题editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7cdf9036dc4b885aa0c3bac3af3c02916f7ec8311758545708000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:使用阈值门限 2025-09-22 20:55:08 +08007cdf9036dc4b885aa0c3bac3af3c02916f7ec831feat:使用阈值门限editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7d2eeb7ec642aa164f6e9162ae27aa4378dede2f1758601170000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整对准阈值的处理 2025-09-23 12:19:30 +08007d2eeb7ec642aa164f6e9162ae27aa4378dede2ffeat:调整对准阈值的处理editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/plan/plan_data.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/plan/plan_data.cppbee5190cbc27da2d79fc347af8955b16ece0a9cc1758767501000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: using plan_data to activate stationary steering. 2025-09-25 10:31:41 +0800bee5190cbc27da2d79fc347af8955b16ece0a9ccfix: using plan_data to activate stationary steering.editdata/plan/plan_data.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/plan/plan_data.cppnode/sink/ros_sink_command.cpp3f5e4f1f4cd63acd48c0685f6687bc064e568c141758785223000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: stationary steering bug. 2025-09-25 15:27:03 +08003f5e4f1f4cd63acd48c0685f6687bc064e568c14fix: stationary steering bug.editnode/sink/ros_sink_command.cppnode/CMakeLists.txtnode/sink/ros_sink_ctrl_debug.cppdata/ctrl/lateral_cmd.cppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppCMakeLists.txtdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cpppackage.xmldata/config/cfg_steering_offset_observer.cppnode/logic.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamldata/ctrl_frame.hppnode/logic.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/ctrl/observer_debug_data.hppb6b84cf70ee229d6840e76c971b729abf1eac9581760096754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat:新增零偏角度辨识及补偿功能 2025-10-10 19:45:54 +0800b6b84cf70ee229d6840e76c971b729abf1eac958feat:新增零偏角度辨识及补偿功能adddata/config/cfg_steering_offset_observer.hppeditdata/ctrl_frame.cppeditnode/logic.cppeditconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamleditdata/ctrl_frame.hppeditCMakeLists.txteditdata/ctrl/lateral_cmd.hppeditnode/process/proc/proc_lateral_controller.hppeditnode/logic.hppeditdata/ctrl/lateral_cmd.cppeditnode/CMakeLists.txteditdata/vehicle/vehicle_state.cppeditnode/sink/ros_sink_ctrl_debug.cppeditpackage.xmladddata/ctrl/observer_debug_data.hppeditnode/process/proc/proc_lateral_controller.cppeditconfig/config_truck/ctrl.yamladddata/ctrl/observer_debug_data.cppadddata/config/cfg_steering_offset_observer.cppaddalgorithm/ctrl/observer/steering_offset_observer.cppaddalgorithm/ctrl/observer/steering_offset_observer.hppeditnode/sink/ros_sink_command.cppdata/config/cfg_steering_offset_observer.cppdata/config/cfg_steering_offset_observer.hppnode/logic.cpp34f11cdc5f8d92a2a0124516a42b89bc2fa496041760151883000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:更改零偏角度yaml文件的读取方式 2025-10-11 11:04:43 +080034f11cdc5f8d92a2a0124516a42b89bc2fa49604fix:更改零偏角度yaml文件的读取方式editnode/logic.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppdata/plan/plan_data.cppc2ca63b1f39faa468c1c38dc814fe2d40602445d1760160965000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:36:05 +0800c2ca63b1f39faa468c1c38dc814fe2d40602445dfix: crash issueeditdata/plan/plan_data.cppdata/plan/plan_data.cpp1e015cff9dddc734826837e074c145638e0077841760161343000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:42:23 +08001e015cff9dddc734826837e074c145638e007784fix: crash issueeditdata/plan/plan_data.cppnode/process/proc/proc_lateral_controller.cpp19a8f0893012851595f722b221118a4eda904c8f1760440730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 屏蔽变道时的零偏补偿 2025-10-14 19:18:50 +080019a8f0893012851595f722b221118a4eda904c8ffix: 屏蔽变道时的零偏补偿editnode/process/proc/proc_lateral_controller.cppdata/ctrl/vehicle_attr.cppdata/plan/plan_enum_definition.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppnode/sink/ros_sink_command.cppbca99ca66e6ea06c8e9c210f911950ee9a40567c1761205312000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:适配多次步进 2025-10-23 15:41:52 +0800bca99ca66e6ea06c8e9c210f911950ee9a40567cfeat:适配多次步进editalgorithm/ctrl/lon_controller/acc_augment_mpc.cppeditdata/ctrl/vehicle_attr.cppeditnode/sink/ros_sink_command.cppeditdata/plan/plan_enum_definition.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/vehicle_attr.cppdata/ctrl/longctrl_data.hppe3627ed0b0b7af9792d537f39ed05e50bbdabf3f1761550110000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:参考速度为0时质量估计失败的问题 2025-10-27 15:28:30 +0800e3627ed0b0b7af9792d537f39ed05e50bbdabf3ffix:参考速度为0时质量估计失败的问题editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/vehicle_attr.cppeditdata/ctrl/longctrl_data.hppdata/plan/plan_data.cppda8eac4b8b7f77062435e87d267222132d9674be1761552137000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:ResetHFSMState()中不将task_id_置为0 2025-10-27 16:02:17 +0800da8eac4b8b7f77062435e87d267222132d9674befix:ResetHFSMState()中不将task_id_置为0editdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/longctrl_data.hppdata/ctrl/longitude_ctrl_debug_data.cpp03d1a9949aa987e93fd7bf6cd582ce0587ebd19e1762835890000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:刹车和起步问题修复 2025-11-11 12:38:10 +080003d1a9949aa987e93fd7bf6cd582ce0587ebd19efix:刹车和起步问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl/longitude_ctrl_debug_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc741ab97e651163a949200862f63fc21d032afd11763089069000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:最小刹车问题修复 2025-11-14 10:57:49 +0800c741ab97e651163a949200862f63fc21d032afd1fix:最小刹车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppCMakeLists.txtnode/sink/ros_sink_command.cppa1d15c814347f023e2ec82f593d4f3a53b12eb281763517920000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: clamp steering angle. 2025-11-19 10:05:20 +0800a1d15c814347f023e2ec82f593d4f3a53b12eb28fix: clamp steering angle.editnode/sink/ros_sink_command.cppeditCMakeLists.txtalgorithm/ctrl/lon_controller/longitude_controller.cppc0021668b12823b0e104d189d2ccb9541e54f81f1764218219000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:取消任务时切到N档 2025-11-27 12:36:59 +0800c0021668b12823b0e104d189d2ccb9541e54f81ffix:取消任务时切到N档editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp469f07d20c84a2ea7e65c7e9f0fe21ceb58069c11764931767000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:对准停不住车问题修复 2025-12-05 18:49:27 +0800469f07d20c84a2ea7e65c7e9f0fe21ceb58069c1fix:对准停不住车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppnode/process/prepare/prepare_creep.cpp4d2049600e29c93ba14b177a4d81e9b7f0ca5dcf1766027337000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: imv车型也控制进入creep的距离 2025-12-18 11:08:57 +08004d2049600e29c93ba14b177a4d81e9b7f0ca5dcffix: imv车型也控制进入creep的距离editnode/process/prepare/prepare_creep.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppmath/identification/parking_distance_estimator.hppmath/identification/vehicle_mass_estimator.cppdata/ctrl_frame.hppmath/util/algebra.cppdata/config/cfg_static.cppmath/filter/lowpass_filter.hppdata/ctrl/vehicle_attr.cppdata/ctrl/vehicle_attr.hppdata/vehicle/vehicle_state.cppmath/filter/lowpass_filter.cppdata/config/cfg_mass_estimation.cppnode/process/prepare/prepare_traj.cppdata/config/cfg_mass_estimation.hppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_state.hppdata/config/cfg_parking_distance.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/longitude_controller.hppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppa923869ff2b65ba1d498bbcf665233ce775f4e181766733310000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat: 新质量估计仅观测 && 停车距离预估用于刹车 2025-12-26 15:15:10 +0800a923869ff2b65ba1d498bbcf665233ce775f4e18feat: 新质量估计仅观测 && 停车距离预估用于刹车editalgorithm/ctrl/lon_controller/longitude_controller.cppaddmath/identification/parking_distance_estimator.cppeditdata/config/cfg_static.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppadddata/config/cfg_lon_dynamic_mpc.hppadddata/config/cfg_parking_distance.hppaddmath/identification/vehicle_mass_estimator.hppeditmath/util/algebra.cppadddata/config/cfg_parking_distance.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppaddmath/identification/vehicle_mass_estimator.cppeditdata/ctrl_frame.hppeditnode/process/prepare/prepare_attr.hppaddmath/filter/lowpass_filter.hppeditdata/config/cfg_mass_estimation.hppeditdata/ctrl/vehicle_attr.cppadddata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/vehicle_attr.hppeditdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditdata/ctrl/observer_debug_data.hppeditdata/config/cfg_mass_estimation.cppaddmath/filter/lowpass_filter.cppeditnode/process/prepare/prepare_traj.cppaddmath/identification/parking_distance_estimator.hppeditdata/vehicle/vehicle_state.cppeditdata/ctrl/observer_debug_data.cppeditnode/process/prepare/prepare_attr.cppdata/config/cfg_static.hppdata/config/cfg_topic.hppnode/source/module.cppdata/config/cfg_topic.cppnode/source/ros_source_pnc_status.hppnode/source/ros_source_pnc_status.cppdata/config/cfg_static.cpp11abef0f6f252b25d1c9bcaafc2e14720fc7ef941767526570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: update cfg_static from pnc_status. 2026-01-04 19:36:10 +080011abef0f6f252b25d1c9bcaafc2e14720fc7ef94feat: update cfg_static from pnc_status.editdata/config/cfg_static.cppeditdata/config/cfg_static.hppaddnode/source/ros_source_pnc_status.hppeditdata/config/cfg_topic.cppeditdata/config/cfg_topic.hppaddnode/source/ros_source_pnc_status.cppeditnode/source/module.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppnode/logic.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/ctrl/observer_debug_data.hpp7dda8c34a63e4d30cf3dcf9780f3aa263b8394841767534200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估功能优化 2026-01-04 21:43:20 +08007dda8c34a63e4d30cf3dcf9780f3aa263b839484fix: 停车距离预估功能优化editalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/ctrl/observer_debug_data.cppeditnode/process/prepare/prepare_attr.cppeditnode/logic.cppeditdata/config/cfg_parking_distance.cppeditdata/ctrl/observer_debug_data.hppeditmath/identification/parking_distance_estimator.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditmath/identification/parking_distance_estimator.hppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppnode/logic.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppmath/identification/vehicle_mass_estimator.cppdata/config/cfg_static.cpp2799ce7485702c9d7189502f490de21a8aa15fa01767592495000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：质量估计优化 2026-01-05 13:54:55 +08002799ce7485702c9d7189502f490de21a8aa15fa0fix：质量估计优化editdata/config/cfg_static.hppeditmath/identification/vehicle_mass_estimator.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditmath/identification/vehicle_mass_estimator.hppeditnode/logic.cppeditdata/config/cfg_static.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.cpp4f01eede08a21e7f5b7bcf889161d952c84f998e1767598267000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:平行驾驶优化 2026-01-05 15:31:07 +08004f01eede08a21e7f5b7bcf889161d952c84f998efix:平行驾驶优化editdata/config/cfg_mass_estimation.cppeditdata/config/cfg_parking_distance.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppdata/config/cfg_steering_offset_observer.cppdata/config/cfg_parking_distance.cpp90f98d70883afe14d1fb6d43076799142013caf51767750736000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: the creep brake consider weight 2026-01-07 09:52:16 +080090f98d70883afe14d1fb6d43076799142013caf5feat: the creep brake consider weighteditconfig/config_car/ctrl.yamleditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_creep.hppdata/ctrl/observer_debug_data.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp8466365acd87ff59ad79555ffa2b88589270c6121767872387000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 对准优化 2026-01-08 19:39:47 +08008466365acd87ff59ad79555ffa2b88589270c612fix: 对准优化editdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditmath/identification/parking_distance_estimator.cppeditdata/ctrl/observer_debug_data.cppeditdata/config/cfg_parking_distance.cppeditdata/config/cfg_parking_distance.hppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_proc_longctrl.cppeditmath/identification/parking_distance_estimator.hppdata/ctrl_frame.cppce524138624fd65d93879bf9aaec24d18f0eb8241767941855000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 停车预估配置参数bug 2026-01-09 14:57:35 +0800ce524138624fd65d93879bf9aaec24d18f0eb824fix: 停车预估配置参数bugeditdata/ctrl_frame.cppdata/config/cfg_parking_distance.hppmath/identification/parking_distance_estimator.cppmath/identification/parking_distance_estimator.hppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cpp715acf05d21b6221e37f946500215ce57e1a0fb11768213456000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: parking distance estimator add first stage gain 2026-01-12 18:24:16 +0800715acf05d21b6221e37f946500215ce57e1a0fb1feat: parking distance estimator add first stage gaineditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.hppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdd7bdbfa7e4a6fbd98a506fcbb6f91548f98348a1769053193000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: truck creep 中积分项修复 2026-01-22 11:39:53 +0800dd7bdbfa7e4a6fbd98a506fcbb6f91548f98348afix: truck creep 中积分项修复editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_mass_estimation.cpp3789b319f892ee4d2d001a7eed76c49e3d33dfd61769054398000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认关闭新功能 2026-01-22 11:59:58 +08003789b319f892ee4d2d001a7eed76c49e3d33dfd6fix: 默认关闭新功能editdata/config/cfg_mass_estimation.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.cppdata/config/cfg_creep.hpp.gitignorealgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp15ddb883751c5e495ab1bc53780ce75c4cb9c8281769427745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep增加动力学前馈但默认关闭 && creep日志记录优化 2026-01-26 19:42:25 +080015ddb883751c5e495ab1bc53780ce75c4cb9c828feat: creep增加动力学前馈但默认关闭 && creep日志记录优化editalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/proc/proc_longtiude_controller.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/config/cfg_creep.cppedit.gitignorealgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp9e3d2535ae2b3f4b1ec84118c55fc1d377e930bc1769482888000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep中的position模式变更策略 2026-01-27 11:01:28 +08009e3d2535ae2b3f4b1ec84118c55fc1d377e930bcfeat: creep中的position模式变更策略editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.hpp07d9a9a7bf6e2e03e27c50b94c7d6d86c4e660361769499140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准末端速度参数化 2026-01-27 15:32:20 +080007d9a9a7bf6e2e03e27c50b94c7d6d86c4e66036feat: 对准末端速度参数化editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppdata/vehicle/vehicle_state.cppe5748087e51b8fb72bc49d5bf1d9de4ad7e584c41769743730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 使用底盘速度的消息源更改 2026-01-30 11:28:50 +0800e5748087e51b8fb72bc49d5bf1d9de4ad7e584c4fix: 使用底盘速度的消息源更改editdata/vehicle/vehicle_state.cppCMakeLists.txtcommon/log/log_config.cppf7d781d64edec62cc423975239d6b9784f6e7c051770192314000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: cmake using clang. 2026-02-04 16:05:14 +0800f7d781d64edec62cc423975239d6b9784f6e7c05fix: cmake using clang.editCMakeLists.txteditcommon/log/log_config.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp7ab75f2e7389e06a4e5b061be3120e07497a0a361771161403000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加TCS功能 2026-02-15 21:16:43 +08007ab75f2e7389e06a4e5b061be3120e07497a0a36feat: 增加TCS功能editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/observer_debug_data.hppeditdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppbe6f849a5145cede55d1b392e3a71223ce2b0e971772080648000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：高精轮速对准和大转向时跟踪优化 2026-02-26 12:37:28 +0800be6f849a5145cede55d1b392e3a71223ce2b0e97feat：高精轮速对准和大转向时跟踪优化editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/longitude_controller.cpp0c12f43c28613db29ecd5782d5278922c7229bc21772190408000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解决低速跟踪差的问题 2026-02-27 19:06:48 +08000c12f43c28613db29ecd5782d5278922c7229bc2feat: 解决低速跟踪差的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppAGENTS.mddata/ctrl/longctrl_data.hppdocs/task_plan.mddata/vehicle/vehicle_state.cppdocs/progress.mdalgorithm/ctrl/lon_controller/longitude_controller.cppdocs/findings.mddata/ctrl/observer_debug_data.hpp51a0c112176584bbb075a10bd56d78c1240cd8e71772508222000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuooptimize PID integral and TCS 2026-03-03 11:23:42 +080051a0c112176584bbb075a10bd56d78c1240cd8e7optimize PID integral and TCSeditdata/ctrl/longctrl_data.hppaddAGENTS.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/observer_debug_data.hppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddocs/progress.mdadddocs/findings.mdadddocs/task_plan.mdeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/longitude_controller.cpp35e8faa7c435af6edb0ad51c3b614fd7e11fa6e41772526196000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志存储位置更改 2026-03-03 16:23:16 +080035e8faa7c435af6edb0ad51c3b614fd7e11fa6e4feat: 对准日志存储位置更改editalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppconfig/config_truck/ctrl.yamldata/ctrl/creep_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppnode/process/prepare/prepare_creep.cppadd59702865f016f9a043b9c06316c99528c539f1772607560000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 2026-03-04 14:59:20 +0800add59702865f016f9a043b9c06316c99528c539ffeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃editnode/process/prepare/prepare_creep.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/config/cfg_creep.cppeditdata/config/cfg_creep.hppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppb450e3744d3a5853fa3337157d2657203597fed91772610210000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志记录 2026-03-04 15:43:30 +0800b450e3744d3a5853fa3337157d2657203597fed9feat: 更改日志记录editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppnode/logic.cppAGENTS.mddocs/task_plan.mddata/config/cfg_lon_dynamic_mpc.hppdocs/progress.mdalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.hppdocs/findings.mddf8de0e679dab840f39bcf76b4418fe23662b2201772617941000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加全流程的纵向动力学log记录 2026-03-04 17:52:21 +0800df8de0e679dab840f39bcf76b4418fe23662b220feat: 增加全流程的纵向动力学log记录editdata/ctrl_frame.hppeditnode/logic.cppeditdocs/findings.mdeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdocs/task_plan.mdeditAGENTS.mdeditdocs/progress.mddata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc3d2ee1f98f6a326c710fc74cce7f393d09f5f6a1772694154000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 积分策略改变，倾向于保持减速 2026-03-05 15:02:34 +0800c3d2ee1f98f6a326c710fc74cce7f393d09f5f6afeat: 积分策略改变，倾向于保持减速editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppf380266dceafb579463bc18fa7df5ed7f471852d1772713376000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 积分项回收逻辑调整回上一版，更改参数 2026-03-05 20:22:56 +0800f380266dceafb579463bc18fa7df5ed7f471852dfix: 积分项回收逻辑调整回上一版，更改参数editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/observer_debug_data.hppd145f0f980059c43b4cc65cb0b27ce98ea6518121772758594000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 修改防滑log记录 2026-03-06 08:56:34 +0800d145f0f980059c43b4cc65cb0b27ce98ea651812fix: 修改防滑log记录editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/prepare/prepare_creep.cppdata/ctrl/creep_data.hpp5bf31e54ca59e77e23f3a7a1f85a28f010466bbf1773028157000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 高精轮速使用的防护 2026-03-09 11:49:17 +08005bf31e54ca59e77e23f3a7a1f85a28f010466bbffeat: 高精轮速使用的防护editalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/ctrl/creep_data.hppdata/ctrl/longctrl_data.cppalgorithm/util/quintic_step_trajectory.cpp.gitignoredata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppconfig/config_truck/ctrl.yamlalgorithm/util/quintic_step_trajectory.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppe3cbaa3b13dd5f79745f716e77e40b9330857d7c1773141745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加急加速急减损步进功能 2026-03-10 19:22:25 +0800e3cbaa3b13dd5f79745f716e77e40b9330857d7cfeat: 增加急加速急减损步进功能editdata/config/cfg_creep.cppaddalgorithm/util/quintic_step_trajectory.hppedit.gitignoreeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.hppeditconfig/config_truck/ctrl.yamleditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppaddalgorithm/util/quintic_step_trajectory.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp388c91187d3a616a710fdb0bd95704c580eae6a31773197052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：解决HopperDump停不到位的问题 2026-03-11 10:44:12 +0800388c91187d3a616a710fdb0bd95704c580eae6a3fix：解决HopperDump停不到位的问题editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yaml01b1500e6493831922a8cdc11deb518a379fbb341773221830000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急加急减程度开放接口 2026-03-11 17:37:10 +080001b1500e6493831922a8cdc11deb518a379fbb34feat: 急加急减程度开放接口editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_creep.cppeditdata/config/cfg_creep.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/vehicle/vehicle_chassis.hppnode/process/proc/module.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppnode/process/proc/proc_longitude_controller.hppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/vehicle/vehicle_chassis.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/module.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_parallel_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppnode/process/proc/proc_parallel_controller.hppAGENTS.mdalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppe40fafff13f4ca1f7449cf0085aa7a46b0d547841773399517000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构 2026-03-13 18:58:37 +0800e40fafff13f4ca1f7449cf0085aa7a46b0d54784feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/vehicle/vehicle_chassis.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditnode/process/proc/proc_parallel_controller.cppeditnode/process/prepare/prepare_attr.hppeditnode/process/proc/proc_longtiude_controller.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppeditdata/vehicle/vehicle_chassis.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditnode/process/proc/proc_parallel_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_static.cppeditnode/process/proc/module.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppeditAGENTS.mdaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppeditdata/vehicle/vehicle_state.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_static.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditdata/config/cfg_mass_estimation.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp32663748d25744a5bd2904615c27f88b6a0d29bc1773642656000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加机械效率参数 2026-03-16 14:30:56 +080032663748d25744a5bd2904615c27f88b6a0d29bcfeat: 增加机械效率参数editalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppnode/sink/ros_sink_command.cppf99c9f562c5a4fd0cc8cfd4b5b4f73858984356a1773805125000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: vehicle type in command 2026-03-18 11:38:45 +0800f99c9f562c5a4fd0cc8cfd4b5b4f73858984356afix: vehicle type in commandeditnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/trailer_angle_observer.cpp641a3497a25a883c238479db203fd250516ee6b51773806298000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle observer crash issue 2026-03-18 11:58:18 +0800641a3497a25a883c238479db203fd250516ee6b5fix: trailer angle observer crash issueeditalgorithm/ctrl/observer/trailer_angle_observer.cppCMakeLists.txtcommon/other/version.hppnode/main.cppee394f86e5cc32ab6805f125add47ad82366cc311773806330000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: version 2026-03-18 11:58:50 +0800ee394f86e5cc32ab6805f125add47ad82366cc31fix: versioneditnode/main.cppeditCMakeLists.txteditcommon/other/version.hppdata/vehicle/lane_detection.cpp905c43a1753a6385d62f382fc3c6bf320b6b19d71773827407000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane with for single line lane detection 2026-03-18 17:50:07 +0800905c43a1753a6385d62f382fc3c6bf320b6b19d7fix: using map lane with for single line lane detectioneditdata/vehicle/lane_detection.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp.gitignoreAGENTS.mdd025509aea60836db61179fced7560174e5101951773915043000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 增加日志记录 2026-03-19 18:10:43 +0800d025509aea60836db61179fced7560174e510195fix: 增加日志记录editalgorithm/ctrl/lon_controller/truck_lon_controller.cppedit.gitignoreeditAGENTS.mdeditdata/ctrl_frame.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddata/config/cfg_proc_longctrl.cppddd6edfb8930f867b69b34d2b02e76ab5b5764091773985084000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 速度使用参数化 2026-03-20 13:38:04 +0800ddd6edfb8930f867b69b34d2b02e76ab5b576409feat: 速度使用参数化editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppadddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mdeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl_frame.cpp.gitignore740281d2280833a35e0c526de27f9173534921221773985384000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuochore: ignore worktrees directory 2026-03-20 13:43:04 +0800740281d2280833a35e0c526de27f917353492122chore: ignore worktrees directoryedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppAGENTS.mddocs/task_plan.mddocs/progress.mdalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppdocs/findings.mddata/config/cfg_proc_longctrl.cpp64b313d4bff99c56bcf6cb6b5766a3381165d9fa1774269690000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加制动上升斜率 2026-03-23 20:41:30 +080064b313d4bff99c56bcf6cb6b5766a3381165d9fafeat: 增加制动上升斜率editAGENTS.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppdeletedocs/progress.mdeditdata/ctrl_frame.cppdeletedocs/findings.mddeletedocs/task_plan.mdeditnode/process/proc/proc_limit.cppdata/CMakeLists.txtf5665304ec7eb886a63685f57ca4eca9039373f21774317711000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat : cmakelist bug 2026-03-24 10:01:51 +0800f5665304ec7eb886a63685f57ca4eca9039373f2feat : cmakelist bugeditdata/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/ctrl/longctrl_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppdata/config/cfg_proc_longctrl.hppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp4f6c3a31a92fc8850c5292354d01c7054c05dcb01774437934000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加lmpc算法 2026-03-25 19:25:34 +08004f6c3a31a92fc8850c5292354d01c7054c05dcb0feat: 增加lmpc算法editdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppaddalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppeditdata/ctrl/longctrl_data.cppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppd3c62765b9d3b9ed2daa3a87555415d8802534a41774488082000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: bug 2026-03-26 09:21:22 +0800d3c62765b9d3b9ed2daa3a87555415d8802534a4fix: bugeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppnode/sink/ros_sink_ctrl_debug.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/ctrl/longitude_ctrl_debug_data.cpp2ed4d86973d5d6c2378952c505d4b9cbc1f674a71774509947000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 2026-03-26 15:25:47 +08002ed4d86973d5d6c2378952c505d4b9cbc1f674a7feat: 增加日志editalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditnode/sink/ros_sink_ctrl_debug.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/longitude_ctrl_debug_data.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpp3d4d5d48be53eb6ffc00e70943200549aa222a691774514226000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化mpc速度误差补偿 2026-03-26 16:37:06 +08003d4d5d48be53eb6ffc00e70943200549aa222a69feat: 优化mpc速度误差补偿editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/creep_data.hppc2d8fa74576c9b71ecdc60198c241056b3b868a71774611573000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准退出日志 2026-03-27 19:39:33 +0800c2d8fa74576c9b71ecdc60198c241056b3b868a7feat: 增加对准退出日志editalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.cppeditdata/ctrl/creep_data.hppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamldata/config/cfg_safe_const.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppconfig/config_imv/ctrl.yamldata/config/cfg_proc_longctrl.cpp5a7d5a618bbddafc08dcd1e48a2760c519bb54891774844354000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停时增加斜率 2026-03-30 12:19:14 +08005a7d5a618bbddafc08dcd1e48a2760c519bb5489feat: 急停时增加斜率editconfig/config_car/ctrl.yamleditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_safe_const.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_safe_const.cppeditconfig/config_imv/ctrl.yamldata/config/cfg_proc_longctrl.cppdb9b1562a5d0c62ff5e8108571405570a0a933de1774928839000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改对准默认参数 2026-03-31 11:47:19 +0800db9b1562a5d0c62ff5e8108571405570a0a933defeat: 更改对准默认参数editdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_mass_estimation.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp55dc095dfd100427852dfd831dbfe979cdab535c1774958796000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门踏板开度发送和质量估计转化适配三一车 2026-03-31 20:06:36 +080055dc095dfd100427852dfd831dbfe979cdab535cfeat: 油门踏板开度发送和质量估计转化适配三一车editdata/config/cfg_mass_estimation.cppeditnode/process/prepare/prepare_attr.cppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditdata/config/cfg_static.hppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditdata/config/cfg_static.cppdeletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppeditdata/config/cfg_mass_estimation.hppdeletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/prepare/prepare_attr.cpp640f99f1884330bf9386b7756ae7f81fcb3f62ce1775008449000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 && lmpc bug 2026-04-01 09:54:09 +0800640f99f1884330bf9386b7756ae7f81fcb3f62cefeat: 增加日志 && lmpc bugeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppe1aab86f7e4bb1e7ed152dfd01e0f7c81da674151775011283000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: amt gear 和 mpc回退机制优化 2026-04-01 10:41:23 +0800e1aab86f7e4bb1e7ed152dfd01e0f7c81da67415feat: amt gear 和 mpc回退机制优化editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl_frame.cppba22fb9e94468095ba60e8685581d93bba90639f1775013849000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加autoholde日志 2026-04-01 11:24:09 +0800ba22fb9e94468095ba60e8685581d93bba90639ffeat: 增加autoholde日志editdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp0211ee8f37fea537f288ad8783d894d458a835391775025812000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: pid 刹车测略同步原版本 2026-04-01 14:43:32 +08000211ee8f37fea537f288ad8783d894d458a83539feat: pid 刹车测略同步原版本editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_mass_estimation.cppdata/config/cfg_static.cpp60fd2beac9e8472c742583611305969b1c2bda421775036062000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认参数更改 2026-04-01 17:34:22 +080060fd2beac9e8472c742583611305969b1c2bda42fix: 默认参数更改editdata/config/cfg_static.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_mass_estimation.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_steering_offset_observer.cppdata/config/cfg_creep.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppnode/process/prepare/prepare_attr.cpp6618b9e57edcf8952f540901f85577fc7345f7ce1775101881000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加质量估计log 2026-04-02 11:51:21 +08006618b9e57edcf8952f540901f85577fc7345f7cefeat: 增加质量估计logeditdata/ctrl/observer_debug_data.hppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_creep.cppeditdata/ctrl_frame.cppeditdata/ctrl/observer_debug_data.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/pid.hppnode/process/proc/proc_limit.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppdata/config/cfg_pid.hppnode/logic.cppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_pid.cppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/config/cfg_steering_offset_observer.cppdata/config/cfg_safe_const.cppdata/common/pid_coef.hppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppconfig/config_imv/ctrl.yamlalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/observer/steering_offset_observer.hppb4394c000ea59cef19f2e36f13367246c90e6a421775187622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 参数梳理 2026-04-03 11:40:22 +0800b4394c000ea59cef19f2e36f13367246c90e6a42feat: 参数梳理editdata/config/cfg_safe_const.cppeditdata/ctrl_frame.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppeditconfig/config_imv/ctrl.yamleditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_safe_const.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdeletedata/config/cfg_pid.hppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppadddata/common/pid_coef.hppeditdata/config/cfg_steering_offset_observer.hppeditnode/logic.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdeletedata/config/cfg_pid.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_creep.hppeditdata/ctrl_frame.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppeditalgorithm/ctrl/pid.hppeditdata/config/cfg_creep.cppscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp.gitignorealgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppscripts/test_lon_delay_identify.pydocs/lon_delay_identify_usage.md87ced5f272df1f036359f994b20b10e25288b93e1775533486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门后处理优化 && 纵向模型辨识脚本 2026-04-07 11:44:46 +080087ced5f272df1f036359f994b20b10e25288b93efeat: 油门后处理优化 && 纵向模型辨识脚本editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppedit.gitignoreeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppadddocs/lon_delay_identify_usage.mdaddscripts/lon_delay_identify.pyaddscripts/test_lon_delay_identify.pyalgorithm/ctrl/lon_controller/imv_creep_controller.cppbcfb1d5e39e0a806ef11030d7101479722025b151775542073000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: imv creep 中else分支未return的bug 2026-04-07 14:07:53 +0800bcfb1d5e39e0a806ef11030d7101479722025b15fix: imv creep 中else分支未return的bugeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/config/cfg_lon_dynamic_mpc.cppdata/ctrl/longctrl_data.hppbc294ece471569b56035ddcf47ee06db9f5f88cc1775547119000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改油门滤波器 2026-04-07 15:31:59 +0800bc294ece471569b56035ddcf47ee06db9f5f88ccfeat: 更改油门滤波器editdata/ctrl/longctrl_data.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl/longctrl_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppd2a6d5b408627d8893047da20e2bebaa5312cd381775563487000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: path_direction_lock时对准状态下停车 2026-04-07 20:04:47 +0800d2a6d5b408627d8893047da20e2bebaa5312cd38fix: path_direction_lock时对准状态下停车editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppdocs/truck_creep_upgrade_cleanup.mddata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/config/cfg_static.cppdata/ctrl/longctrl_data.cppdata/config/cfg_creep.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppnode/process/proc/proc_longtiude_controller.cppdata/config/cfg_parallel.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppb3e685d2fe51b9d262b94221dac26603b4281f721775627025000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: truck对准控制器重构 2026-04-08 13:43:45 +0800b3e685d2fe51b9d262b94221dac26603b4281f72refactor: truck对准控制器重构editnode/process/prepare/prepare_creep.cppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppadddocs/truck_creep_upgrade_cleanup.mddeletealgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/ctrl/creep_data.hppeditnode/process/proc/proc_longtiude_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_static.hppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/config/cfg_static.cppeditdata/config/cfg_parallel.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_parallel.hppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditnode/process/prepare/prepare_creep.hppeditnode/process/proc/proc_longitude_controller.hppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppdata/config/cfg_creep.hppe395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41f1775718386000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准时刹超认为完成的功能开关 2026-04-09 15:06:26 +0800e395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41ffeat: 增加对准时刹超认为完成的功能开关editdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppalgorithm/ctrl/parallel_controller/parallel_controller.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppnode/process/proc/module.cppCMakeLists.txtalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/module.hppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.hppdocs/findings.mdalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cpptest/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/imv_speed_pid.hpptest/cfg_lon_config_test.cppconfig/config_truck/ctrl.yamltest/ros_test_main.cppalgorithm/ctrl/lon_controller/imv_speed_pid.cppalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppdata/config/cfg_creep.cppdocs/progress.mdnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.hpptest/imv_speed_pid_test.cppdata/config/cfg_proc_longctrl.cppconfig/config_car/ctrl.yamldata/config/cfg_dynamic.hppnode/process/proc/proc_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp8d321998c0e7fa22a06d3e0cfb552c08cf18739b1776140770000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化imv纵向控制架构 2026-04-14 12:26:10 +08008d321998c0e7fa22a06d3e0cfb552c08cf18739bfeat: 优化imv纵向控制架构addtest/ros_test_main.cppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppeditconfig/config_car/ctrl.yamladddocs/task_plan.mdaddtest/CMakeLists.txtdeletealgorithm/ctrl/lon_controller/mpc_lon_controller.hppeditnode/process/proc/module.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_dynamic.hppeditdata/config/cfg_proc_longctrl.cppadddocs/progress.mdeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppaddtest/cfg_lon_config_test.cppeditdata/config/cfg_creep.hppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_dynamic.cppaddnode/process/proc/proc_move_step_controller.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppaddalgorithm/ctrl/lon_controller/imv_speed_pid.hppeditconfig/config_imv/ctrl.yamladdalgorithm/ctrl/lon_controller/imv_speed_pid.cppeditdata/config/cfg_proc_longctrl.hppeditnode/process/proc/module.cppaddtest/imv_speed_pid_test.cppaddnode/process/proc/proc_move_step_controller.cppeditconfig/config_truck/ctrl.yamladdalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppadddocs/findings.mdaddtest/cfg_creep_config_test.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppeditCMakeLists.txtdeletealgorithm/ctrl/lon_controller/mpc_lon_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hpptest/imv_align_mode_guard_test.cpptest/sc_runtime_adaptation_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/vehicle/vehicle_config.cppdocs/review_lon_refactor_20260414.mdtest/imv_lon_emergency_brake_test.cppnode/sink/ros_sink_command.hppdata/vehicle/vehicle_config.hppconfig/config_imv/vehicle_config.yamlalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hpptest/sc_move_step_mode_test.cppconfig/config_truck/vehicle_config.yamlnode/process/proc/proc_controller_routing.hppdocs/review_sc_migration_20250716.mdnode/sink/ros_sink_command.cpptest/sc_sink_command_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txtconfig/config_car/vehicle_config.yamldata/config/cfg_static.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpptest/sc_vehicle_config_test.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hpptest/cfg_lon_config_test.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpptest/ros_test_main.cppdata/config/cfg_creep.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_proc_longctrl.hpptest/sc_proc_routing_test.cppconfig/config_sc/vehicle_config.yamldata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppconfig/config_sc/ctrl.yamltest/sc_align_controller_test.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/process/proc/proc_move_step_controller.cpp0cf715a8f060d85c1d83e7a1ae885b56fddcae061776149734000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配 2026-04-14 14:55:34 +08000cf715a8f060d85c1d83e7a1ae885b56fddcae06feat: SC车型适配editnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppaddnode/process/proc/proc_controller_routing.hppaddtest/sc_proc_routing_test.cppaddtest/imv_align_mode_guard_test.cppeditdata/config/cfg_creep.cppeditdata/vehicle/vehicle_config.cppedittest/ros_test_main.cppeditconfig/config_truck/vehicle_config.yamladdconfig/config_sc/vehicle_config.yamladdalgorithm/ctrl/lon_controller/sc_align_utils.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.hppeditconfig/config_imv/vehicle_config.yamladdalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/vehicle/vehicle_config.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditconfig/config_car/vehicle_config.yamladdconfig/config_sc/ctrl.yamladddocs/review_sc_migration_20250716.mdedittest/cfg_creep_config_test.cppaddtest/sc_move_step_mode_test.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppadddocs/review_lon_refactor_20260414.mdedittest/cfg_lon_config_test.cppedittest/CMakeLists.txtaddtest/sc_vehicle_config_test.cppaddalgorithm/ctrl/lon_controller/sc_creep_controller.hppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppaddtest/sc_creep_config_test.cppeditdata/config/cfg_creep.hppeditdata/vehicle/vehicle_state.cppeditnode/sink/ros_sink_command.cppaddtest/sc_sink_command_test.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditnode/process/proc/proc_longtiude_controller.cppaddtest/imv_lon_emergency_brake_test.cppeditnode/process/prepare/prepare_creep.cppaddtest/sc_align_controller_test.cppaddalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_static.cppaddtest/sc_runtime_adaptation_test.cppaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/sink/ros_sink_command.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/proc/proc_move_step_controller.hppdocs/task_plan.md"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/progress.mddocs/findings.mdtest/CMakeLists.txttest/sc_proc_move_step_controller_test.cppnode/process/proc/proc_move_step_controller.cpp9c6f4a6af36b0985c7de3002ff228f268477843a1776214639000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc和imv重构review完成 2026-04-15 08:57:19 +08009c6f4a6af36b0985c7de3002ff228f268477843afeat: sc和imv重构review完成add"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"editnode/process/proc/proc_move_step_controller.cppedittest/CMakeLists.txteditdocs/findings.mdeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddtest/sc_proc_move_step_controller_test.cppeditdocs/progress.mdeditdocs/task_plan.mdeditnode/process/proc/proc_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdocs/truck_creep_upgrade_cleanup.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl/longctrl_data.hpp"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/review_lon_refactor_20260414.mddocs/progress.mddata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_lon_dynamic_mpc.cppdocs/review_sc_migration_20250716.mddocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdocs/findings.mddocs/lon_delay_identify_usage.mddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.md6069d81632ed54a6d5c72a0f32d79615314ced491776406551000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 同步非线形mpc 2026-04-17 14:15:51 +08006069d81632ed54a6d5c72a0f32d79615314ced49feat: 同步非线形mpceditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdeletedocs/review_lon_refactor_20260414.mddeletedocs/lon_delay_identify_usage.mddeletedocs/progress.mdeditdata/ctrl_frame.cppdeletedocs/review_sc_migration_20250716.mddeletedocs/truck_creep_upgrade_cleanup.mdeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletedocs/task_plan.mddeletedocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mdeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdelete"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"deletedocs/findings.mdeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.hpptest/imv_align_mode_guard_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_lon_dynamic_mpc.hpptest/imv_lon_emergency_brake_test.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpptest/sc_move_step_mode_test.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/sc_proc_move_step_controller_test.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpptest/sc_vehicle_config_test.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpptest/sc_proc_routing_test.cpptest/imv_speed_pid_test.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_lon_dynamic_mpc.cpptest/sc_align_controller_test.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/sc_runtime_adaptation_test.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/proc_controller_routing.hppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hpptest/sc_sink_command_test.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txttest/cfg_lon_config_test.cppdata/ctrl/vehicle_attr.hppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppda67d245e737cd818163f063162c7cd0890b38f11776998597000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: 对准相关内容重构 2026-04-24 10:43:17 +0800da67d245e737cd818163f063162c7cd0890b38f1refactor: 对准相关内容重构addalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppdeletetest/sc_proc_move_step_controller_test.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdeletetest/sc_proc_routing_test.cppdeletetest/cfg_creep_config_test.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppdeletetest/cfg_lon_config_test.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppdeletetest/sc_move_step_mode_test.cppeditalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdeletetest/sc_align_controller_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.hppdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdeletetest/sc_creep_config_test.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditdata/config/cfg_creep.hppdeletetest/imv_speed_pid_test.cppaddalgorithm/ctrl/lon_controller/truck_creep_common.hppdeletetest/imv_align_mode_guard_test.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/ctrl/vehicle_attr.hppdeletetest/sc_sink_command_test.cppaddalgorithm/ctrl/lon_controller/truck_creep_common.cppedittest/CMakeLists.txteditnode/process/prepare/prepare_creep.cppaddalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditnode/process/prepare/prepare_creep.hppeditdata/ctrl/creep_data.hppdeletetest/sc_runtime_adaptation_test.cppaddtest/controller_minimal_red_test.cppdeletetest/imv_lon_emergency_brake_test.cppeditnode/process/proc/proc_controller_routing.hppeditnode/process/proc/proc_longitude_controller.hppdeletetest/sc_vehicle_config_test.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_binary_logger.hppdata/config/cfg_lon_dynamic_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txttest/CMakeLists.txtdata/lon_dynamics_binary_logger.cppd37e229636f8b0866f83534de07d5ffbdf9fc1461777283964000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向动力学日志记录改为二进制方法 Co-authored-by: Copilot <copilot@github.com> 2026-04-27 17:59:24 +0800d37e229636f8b0866f83534de07d5ffbdf9fc146feat: 纵向动力学日志记录改为二进制方法addtest/lon_dynamics_binary_log_test.cppeditdata/config/cfg_lon_dynamic_mpc.hppedittest/CMakeLists.txteditdata/ctrl_frame.cppadddata/lon_dynamics_binary_logger.cppaddscripts/lon_dynamics_bin_to_csv.pyeditCMakeLists.txteditdata/config/cfg_lon_dynamic_mpc.cppadddata/lon_dynamics_binary_logger.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp.gitignoretest/truck_lon_dynamic_mpc_dispatch_test.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/lon_dynamics_binary_logger.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdocs/progress.mdalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cpptest/accel_to_pedal_converter_test.cpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pydocs/findings.mddata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtdata/config/cfg_static.cpp8fc23da0299441ec01c6abf27c6fcbfc0b6d4a311777337378000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制器状态清空 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 08:49:38 +08008fc23da0299441ec01c6abf27c6fcbfc0b6d4a31feat: 控制器状态清空editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/ctrl_frame.cppadddocs/progress.mdeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditscripts/lon_dynamics_bin_to_csv.pyedittest/lon_dynamics_binary_log_test.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/lon_dynamics_binary_logger.cppadddocs/findings.mdedittest/CMakeLists.txteditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppaddtest/truck_lon_dynamic_mpc_dispatch_test.cppaddtest/accel_to_pedal_converter_test.cppadddocs/task_plan.mdedit.gitignoreeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_static.hppeditdata/lon_dynamics_binary_logger.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppconfig/config_truck/ctrl.yamldata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlnode/process/prepare/prepare_state.cppconfig/config_imv/ctrl.yamlscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpp808650d279cb2d41240017e1b43cd89a3db625e11777342727000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 考虑弯道阻力系数 2026-04-28 10:18:47 +0800808650d279cb2d41240017e1b43cd89a3db625e1feat: 考虑弯道阻力系数editconfig/config_car/ctrl.yamleditdata/vehicle/vehicle_state.cppeditdata/lon_dynamics_binary_logger.cppeditscripts/lon_dynamics_bin_to_csv.pyeditconfig/config_truck/ctrl.yamleditdata/lon_dynamics_binary_logger.hppeditnode/process/prepare/prepare_state.cppeditdata/ctrl_frame.cppeditconfig/config_imv/ctrl.yamleditconfig/config_sc/ctrl.yamleditdata/config/cfg_mass_estimation.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_mass_estimation.hpptest/truck_lon_dynamic_mpc_dispatch_test.cppdata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_mass_estimation.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pynode/process/prepare/prepare_creep.cppdata/lon_dynamics_binary_logger.cppa088c6497961d535b556c297e4287f883fe365011777379531000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 弯道阻力处理优化反向作业对准适配 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 20:32:11 +0800a088c6497961d535b556c297e4287f883fe36501feat: 弯道阻力处理优化反向作业对准适配editscripts/lon_dynamics_bin_to_csv.pyeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/ctrl_frame.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_mass_estimation.hppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_mass_estimation.cppedittest/truck_lon_dynamic_mpc_dispatch_test.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_binary_logger.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_binary_logger.hppedittest/lon_dynamics_binary_log_test.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/fpid_controller.hppalgorithm/ctrl/parallel_controller/parallel_controller.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppconfig/config_car/ctrl.yamltest/controller_minimal_red_test.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/parallel_controller/fpid_controller.cppdata/config/cfg_parallel.cpp59e9b433c164594372c7090203ca62307502effd1777442486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck的平行驾驶使用mpc纵向控制 Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:01:26 +080059e9b433c164594372c7090203ca62307502effdfeat: truck的平行驾驶使用mpc纵向控制editalgorithm/ctrl/lon_controller/truck_creep_common.cppedittest/controller_minimal_red_test.cppdeletealgorithm/ctrl/parallel_controller/fpid_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_parallel.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditconfig/config_sc/ctrl.yamleditconfig/config_car/ctrl.yamldeletealgorithm/ctrl/parallel_controller/fpid_controller.hppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_parallel.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppf02c93d67a826b644223fcff9c3c357fa1e38cc81777445172000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:46:12 +0800f02c93d67a826b644223fcff9c3c357fa1e38cc8feat: logeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/lon_dynamics_binary_logger.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txt146f679815bc03a35709f2af3d2468309e0b90a01777527366000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志log改回csv Co-authored-by: Copilot <copilot@github.com> 2026-04-30 13:36:06 +0800146f679815bc03a35709f2af3d2468309e0b90a0fix: 日志log改回csvdeletedata/lon_dynamics_binary_logger.cppaddtest/lon_dynamics_csv_log_test.cppeditdata/ctrl_frame.cppeditCMakeLists.txtadddata/lon_dynamics_csv_logger.cppdeletetest/lon_dynamics_binary_log_test.cppadddata/lon_dynamics_csv_logger.hppedittest/CMakeLists.txtdeletescripts/lon_dynamics_bin_to_csv.pydeletedata/lon_dynamics_binary_logger.hppdata/ctrl/vehicle_attr.cpp9dcbbcae08bbae54bbe61235e6d1710d9e0b678c1778066063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: wrls质量初始化 2026-05-06 19:14:23 +08009dcbbcae08bbae54bbe61235e6d1710d9e0b678cfix: wrls质量初始化editdata/ctrl/vehicle_attr.cppcommon/log/log_config.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcommon/log/log_config.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/CMakeLists.txtdata/config/cfg_proc_longctrl.cpp7ad52293228254aa3c9470982a700c225b93cd451778226814000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log记录跨天问题辅助起步问题非线性通用性问题 2026-05-08 15:53:34 +08007ad52293228254aa3c9470982a700c225b93cd45feat: log记录跨天问题辅助起步问题非线性通用性问题editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditcommon/log/log_config.hppeditdata/config/cfg_lon_dynamic_mpc.hppeditcommon/log/log_config.cppedittest/CMakeLists.txteditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppcommon/log/log_config.cppcommon/log/log_config.hppnode/main.cpp6f0b69117052238cc2df7936efff8611fd51c3de1778304928000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: log日志使用修改 2026-05-09 13:35:28 +08006f0b69117052238cc2df7936efff8611fd51c3defix: log日志使用修改editcommon/log/log_config.hppeditcommon/log/log_config.cppeditnode/main.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/ctrl/lateral_cmd.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/ctrl/lateral_cmd.hppdata/vehicle/vehicle_chassis.hppdata/vehicle/vehicle_chassis.cppdata/ctrl_frame.cppalgorithm/ctrl/observer/trailer_angle_observer.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/observer/trailer_angle_observer.hppnode/sink/ros_sink_command.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lon_controller/imv_creep_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/config/cfg_mpc_qp.cppdata/plan/plan_data.hpp621e18db0b18e2ceb9c274649fa3686635ede84f1778497355000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC自转适配 && SC对准控制器优化 2026-05-11 19:02:35 +0800621e18db0b18e2ceb9c274649fa3686635ede84ffeat: SC自转适配 && SC对准控制器优化editdata/plan/plan_data.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/sink/ros_sink_command.cppeditdata/vehicle/vehicle_chassis.hppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/observer/trailer_angle_observer.hppeditdata/plan/plan_data.hppeditalgorithm/ctrl/observer/trailer_angle_observer.cppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/ctrl_frame.cppdeletealgorithm/ctrl/lon_controller/sc_align_utils.hppeditdata/ctrl/lateral_cmd.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditdata/ctrl/lateral_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditdata/config/cfg_mpc_qp.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/vehicle/vehicle_chassis.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpp010aa5928ff86218afd418e08e289052c1db62e21778502088000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载对准停车设定单独参数 2026-05-11 20:21:28 +0800010aa5928ff86218afd418e08e289052c1db62e2feat: 重载对准停车设定单独参数editalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditdata/config/cfg_creep.cppalgorithm/util/quintic_step_trajectory.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/util/quintic_step_trajectory.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp0741869b08f0da8bf53f46cb42273f52abb9ce7c1778545992000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0 2026-05-12 08:33:12 +08000741869b08f0da8bf53f46cb42273f52abb9ce7cfeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0deletealgorithm/util/quintic_step_trajectory.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_proc_longctrl.cppdeletealgorithm/util/quintic_step_trajectory.hppedittest/controller_minimal_red_test.cppeditdata/config/cfg_proc_longctrl.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hpptest/lon_dynamics_csv_log_test.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_common.hpp8461e0239c7cf59ad5bae4c6c41442c89964cf001778586047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助 2026-05-12 19:40:47 +08008461e0239c7cf59ad5bae4c6c41442c89964cf00feat: 起步辅助editdata/lon_dynamics_csv_logger.cppeditdata/ctrl/velocity_cmd.cppeditdata/ctrl/velocity_cmd.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/ctrl_frame.cppedittest/lon_dynamics_csv_log_test.cppeditdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_lon_dynamic_mpc.hppnode/process/prepare/prepare_state.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp1113108e4dcbead838190d9967b898c5d82630961778719600000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步 2026-05-14 08:46:40 +08001113108e4dcbead838190d9967b898c5d8263096feat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditnode/process/prepare/prepare_state.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp61031d124535ea1ec13d8533d729ff508909c64d1778722672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重载刹车非线性接口应为踏板开度 2026-05-14 09:37:52 +080061031d124535ea1ec13d8533d729ff508909c64dfix: 重载刹车非线性接口应为踏板开度editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/vehicle/vehicle_state.cpp657b54465610224ad6b8d7eeed6422065c5a1db91778723063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 坡度限幅放在滤波器的输入端 2026-05-14 09:44:23 +0800657b54465610224ad6b8d7eeed6422065c5a1db9fix: 坡度限幅放在滤波器的输入端editdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp5f140b54963e9764a4712548897c5692baff9c3e1778738624000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：重载单独设定刹车gain 2026-05-14 14:03:44 +08005f140b54963e9764a4712548897c5692baff9c3efeat：重载单独设定刹车gaineditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp1836a20773dc8c04d3527cc01cac3a30c241d77f1778747607000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载时增大纵向mpo减速度变化量 2026-05-14 16:33:27 +08001836a20773dc8c04d3527cc01cac3a30c241d77ffeat: 重载时增大纵向mpo减速度变化量editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpp36d5e2c034164be5b478ae5e2469b88a256a86a81778749478000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准刹超时增大刹车 2026-05-14 17:04:38 +080036d5e2c034164be5b478ae5e2469b88a256a86a8feat: 对准刹超时增大刹车editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp191df70c8b66e49b195bd03f632fc47847491e951778761240000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：速度误差计算方式修改 2026-05-14 20:20:40 +0800191df70c8b66e49b195bd03f632fc47847491e95fix：速度误差计算方式修改editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppnode/process/prepare/prepare_traj.cppddebb2c2956281df7fcdba9d3349562731de81a51778837609000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: kappa direciton for SC 2026-05-15 17:33:29 +0800ddebb2c2956281df7fcdba9d3349562731de81a5fix: kappa direciton for SCeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp59b6cc948c1de15b567fd4fc12825bf71c7fba291779107029000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型对准和步进优化 2026-05-18 20:23:49 +080059b6cc948c1de15b567fd4fc12825bf71c7fba29feat: SC车型对准和步进优化editalgorithm/ctrl/lon_controller/sc_move_step_controller.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/config/cfg_creep.cppedittest/controller_minimal_red_test.cppdata/ctrl_frame.cppdata/vehicle/vehicle_state.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cpp4ec13716a5533cbb8085d41611c2cb0e24f1cd5d1779153731000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加原始pitch角度观测 2026-05-19 09:22:11 +08004ec13716a5533cbb8085d41611c2cb0e24f1cd5dfeat: 增加原始pitch角度观测editdata/ctrl_frame.cppeditdata/vehicle/vehicle_state.cppeditdata/lon_dynamics_csv_logger.hppeditdata/vehicle/vehicle_state.hppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp00f70ddff9c9e5db18b52fc4aa338822a1f6a5aa1779157361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配倒车 2026-05-19 10:22:41 +080000f70ddff9c9e5db18b52fc4aa338822a1f6a5aafeat: SC车型适配倒车editalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp60cdce1c5418f7c882f16cca9121503ee6e705eb1779251886000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc 和 imv的move step修正 2026-05-20 12:38:06 +080060cdce1c5418f7c882f16cca9121503ee6e705ebfeat: sc 和 imv的move step修正editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.cppdata/lon_dynamics_csv_logger.hpp7cc625a4148974386d026d6a4377881f08cf45f61779267455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加速度IMV观测 2026-05-20 16:57:35 +08007cc625a4148974386d026d6a4377881f08cf45f6feat: 增加速度IMV观测editdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cpp07499259dc3a5e961629b85e5850cd0cde2434cf1779272915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对齐速度IMV纵向控制 2026-05-20 18:28:35 +080007499259dc3a5e961629b85e5850cd0cde2434cffeat: 对齐速度IMV纵向控制editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/parking_distance_estimator.cppnode/process/prepare/prepare_attr.cppf78b6e2af86e7d1d993cbb68ba42ca24e3e423da1779367098000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 低速停车距离优化 2026-05-21 20:38:18 +0800f78b6e2af86e7d1d993cbb68ba42ca24e3e423dafeat: 低速停车距离优化editnode/process/prepare/prepare_attr.cppeditnode/process/prepare/prepare_attr.hppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppcommon/log/async_log_writer.hppdata/config/cfg_parallel.hppdata/lon_dynamics_csv_logger.cppcommon/log/log_channel.hppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_lon_dynamic_mpc.hppcommon/CMakeLists.txtalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppcommon/log/async_log_writer.cppalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppdata/config/cfg_log.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/logic.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppcommon/log/log_channel.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_log.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/ctrl/observer_debug_data.cppdata/config/cfg_lon_dynamic_mpc.cppcommon/log/spsc_ring_buffer.hppcommon/log/csv_row_builder.hppdata/config/cfg_parallel.cppnode/process/proc/proc_longtiude_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/ctrl/observer_debug_data.hppnode/process/proc/proc_move_step_controller.cppb7f69bd5c50ddefd4e06f54706cf73185a13f5451779781556000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志记录重构纵向mpc增加热启动关闭polish 2026-05-26 15:45:56 +0800b7f69bd5c50ddefd4e06f54706cf73185a13f545feat: 控制日志记录重构纵向mpc增加热启动关闭polisheditdata/ctrl_frame.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/ctrl/observer_debug_data.hppaddcommon/log/spsc_ring_buffer.hppaddcommon/log/async_log_writer.hppeditdata/lon_dynamics_csv_logger.cppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.hppeditdata/config/cfg_proc_longctrl.hppaddcommon/log/log_channel.cppadddata/config/cfg_log.hppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/config/cfg_lon_dynamic_mpc.hppeditnode/logic.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppeditdata/config/cfg_parallel.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.hppadddata/config/cfg_log.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/process/proc/proc_longtiude_controller.cppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppaddcommon/log/log_channel.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditdata/config/cfg_lon_dynamic_mpc.cppaddcommon/log/csv_row_builder.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppaddcommon/log/async_log_writer.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditcommon/CMakeLists.txteditdata/config/cfg_parallel.hppeditdata/ctrl_frame.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp16edb1307eef7d30b115c41d9bae87e00bef87611779786590000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 放宽阈值 2026-05-26 17:09:50 +080016edb1307eef7d30b115c41d9bae87e00bef8761feat: 放宽阈值editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/ctrl_frame.cppcommon/log/async_log_writer.hppcommon/log/log_channel.hpptest/lon_dynamics_csv_log_test.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppcommon/log/async_log_writer.cpptest/CMakeLists.txt1036119bd8e46ff3e7e6b545a0c2fd2ba557ef791779799268000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志记录地址更改 persistent_solver更改 2026-05-26 20:41:08 +08001036119bd8e46ff3e7e6b545a0c2fd2ba557ef79fix: 日志记录地址更改 persistent_solver更改editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditcommon/log/async_log_writer.hppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditcommon/log/log_channel.hppedittest/CMakeLists.txteditcommon/log/async_log_writer.cppeditdata/ctrl_frame.cppeditnode/logic.cppdeletetest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl_frame.cppcommon/log/log_channel.cppdata/ctrl_frame.hppcommon/log/log_channel.hppcommon/log/async_log_writer.cpp825e8cadf26ab773e82286f438170bad83ac55231779842694000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志记录分割 2026-05-27 08:44:54 +0800825e8cadf26ab773e82286f438170bad83ac5523feat: 对准日志记录分割editdata/ctrl_frame.cppeditcommon/log/async_log_writer.cppeditcommon/log/log_channel.hppeditdata/ctrl_frame.hppeditcommon/log/log_channel.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/lon_dynamics_csv_logger.cpp526490e36ef0e42da0f63e208bca09f7b68e377e1779844795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志 2026-05-27 09:19:55 +0800526490e36ef0e42da0f63e208bca09f7b68e377efeat: 更改日志editdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppdata/config/cfg_log.cppmath/identification/parking_distance_estimator.hppdata/config/cfg_parking_distance.cppnode/logic.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_parking_distance.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc5fb4abc8945e0cda7c1444fbd62443e1723220d1779875379000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 小速度停车距离预估调整 2026-05-27 17:49:39 +0800c5fb4abc8945e0cda7c1444fbd62443e1723220dfeat: 小速度停车距离预估调整editalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_parking_distance.hppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.cppeditnode/logic.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_log.cppeditmath/identification/parking_distance_estimator.cppmath/identification/parking_distance_estimator.cppf2d7bf06fcddb4e3183488676e76e6401dcbd55e1779884405000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估除0风险 2026-05-27 20:20:05 +0800f2d7bf06fcddb4e3183488676e76e6401dcbd55efix: 停车距离预估除0风险editmath/identification/parking_distance_estimator.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppffd3f64743d23b5e47ac96cea72192db17655b611780024900000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 调整安全逻辑 2026-05-29 11:21:40 +0800ffd3f64743d23b5e47ac96cea72192db17655b61feat: 调整安全逻辑editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppab4f28720170f1bdc0956db88dff1e9001fc52051780050440000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 求解超时软约束 2026-05-29 18:27:20 +0800ab4f28720170f1bdc0956db88dff1e9001fc5205feat: 求解超时软约束editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp1b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb51780303421000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加底层默认空载或重载的制动链路 2026-06-01 16:43:41 +08001b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb5feat: 增加底层默认空载或重载的制动链路editdata/config/cfg_static.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.cppdata/config/cfg_static.cpp3b6cb7ca7303b2565cfdb8b9a56ea08967ab1b461780305363000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：参数读取兼容旧版本 2026-06-01 17:16:03 +08003b6cb7ca7303b2565cfdb8b9a56ea08967ab1b46feat：参数读取兼容旧版本editdata/config/cfg_static.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_parallel_cmd.cppnode/source/ros_source_remote_cmd.cpp2c13544ec9851d593955d9ce97616a5b98ea0d8a1780486760000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行/摇控错误详细日志 2026-06-03 19:39:20 +08002c13544ec9851d593955d9ce97616a5b98ea0d8afeat: 平行/摇控错误详细日志editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/source/ros_source_parallel_cmd.cppeditnode/source/ros_source_remote_cmd.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp58a88a828b5adcffa261bec3fb5f527db69346e81780566223000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复 2026-06-04 17:43:43 +080058a88a828b5adcffa261bec3fb5f527db69346e8fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复editalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppafbd16d6aacda444508f4f3492b49bff8d41f9ff1780569915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向mpc适配仿真 2026-06-04 18:45:15 +0800afbd16d6aacda444508f4f3492b49bff8d41f9fffeat: 纵向mpc适配仿真editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp57d7ccd1fa79d4f2f9ba1d288dd22494181395351780579940000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 任何停车后都reset纵向控制器 2026-06-04 21:32:20 +080057d7ccd1fa79d4f2f9ba1d288dd2249418139535feat: 任何停车后都reset纵向控制器editnode/source/ros_source_remote_cmd.cppeditnode/source/ros_source_parallel_cmd.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_safe_const.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdab69864c612b84910939f860810f14a4e9bd7e91780634165000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99 2026-06-05 12:36:05 +0800dab69864c612b84910939f860810f14a4e9bd7e9feat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99editdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_safe_const.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/vehicle/vehicle_command.cppeditnode/process/proc/proc_limit.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcc2804b12ccfc2faf86b65000a26298b511e8c4e1780727395000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 静止状态处理 2026-06-06 14:29:55 +0800cc2804b12ccfc2faf86b65000a26298b511e8c4efix: 静止状态处理editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp6bbd4b84939e3e01b8b32d7409633fdac1beb9881780730224000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重置mpc控制器处理优化 2026-06-06 15:17:04 +08006bbd4b84939e3e01b8b32d7409633fdac1beb988fix: 重置mpc控制器处理优化editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp565460cdf3079a19d6a3e73e09566343195500511780730441000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：不在emergency stop过程中重置 2026-06-06 15:20:41 +0800565460cdf3079a19d6a3e73e0956634319550051fix：不在emergency stop过程中重置editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_creep.cppconfig/config_imv/ctrl.yamlc22027471cb2519f887a4e3d2ba1e67a9f44dc961780754564000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：平行驾驶无油门制动参数化 2026-06-06 22:02:44 +0800c22027471cb2519f887a4e3d2ba1e67a9f44dc96feat：平行驾驶无油门制动参数化editconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/config/cfg_creep.hppeditconfig/config_imv/ctrl.yamleditconfig/config_car/ctrl.yamleditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_creep.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdocs/startup_traction_control_review.mddata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cpptest/accel_to_pedal_converter_test.cppdata/ctrl/observer_debug_data.hpp464d5dafadb306745af21ff8b4499de969db5a0b1780977170000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 2026-06-09 11:52:50 +0800464d5dafadb306745af21ff8b4499de969db5a0bfeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑editalgorithm/ctrl/lon_controller/truck_creep_common.cppadddocs/startup_traction_control_review.mdedittest/accel_to_pedal_converter_test.cppeditdata/ctrl/observer_debug_data.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/lon_dynamics_csv_logger.cppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/ctrl/observer_debug_data.cppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_state.cppbd822e5d2f454af7541041916795ca862519e3a21780983457000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行驾驶补偿 2026-06-09 13:37:37 +0800bd822e5d2f454af7541041916795ca862519e3a2feat: 平行驾驶补偿editnode/sink/ros_sink_command.cppeditnode/process/prepare/prepare_state.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamltest/CMakeLists.txt9c94ea13a42554c9b248d3986a09d99d848e3dce1781090714000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: imv零偏补偿尝试 2026-06-10 19:25:14 +08009c94ea13a42554c9b248d3986a09d99d848e3dcefeat: imv零偏补偿尝试editdata/config/cfg_steering_offset_observer.cppadd"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/config/cfg_steering_offset_observer.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/sink/ros_sink_command.cppeditdata/ctrl/lateral_cmd.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/module.cppedittest/CMakeLists.txteditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl/lateral_cmd.cppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/observer_debug_data.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/config/cfg_steering_offset_observer.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppaa33cc3f05fb294dac4da49d3566df9de6a93fae1781092715000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底层反馈转向角适配零偏 2026-06-10 19:58:35 +0800aa33cc3f05fb294dac4da49d3566df9de6a93faefeat: 底层反馈转向角适配零偏editdata/config/cfg_steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_steering_offset_observer.hppeditdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppnode/process/proc/proc_lateral_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cpp0241a9f93d923636a3a033479365abb1172029211781154011000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏双模态学习 2026-06-11 13:00:11 +08000241a9f93d923636a3a033479365abb117202921feat: IMV零偏双模态学习editdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamltest/CMakeLists.txtb7e550761649890d1309cb420994410d8ff4799b1781156228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuoRevert "feat: imv零偏补偿尝试" This reverts commit 9c94ea13a42554c9b248d3986a09d99d848e3dce. 2026-06-11 13:37:08 +0800b7e550761649890d1309cb420994410d8ff4799bRevert "feat: imv零偏补偿尝试"editnode/sink/ros_sink_command.cppdelete"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/config/cfg_steering_offset_observer.hppeditdata/ctrl/lateral_cmd.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/ctrl/lateral_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/ctrl/observer_debug_data.cppeditnode/process/proc/module.cppeditdata/config/cfg_steering_offset_observer.cppedittest/CMakeLists.txteditconfig/config_imv/ctrl.yamleditdata/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/vehicle/vehicle_status.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppconfig/config_truck/ctrl.yamlnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_safe_const.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp11c839d831dd6497cffe9d36fd751756de9b175d1781166426000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 溜车防护取消任务时制动防护 2026-06-11 16:27:06 +080011c839d831dd6497cffe9d36fd751756de9b175dfeat: 溜车防护取消任务时制动防护editconfig/config_car/ctrl.yamleditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/process/prepare/prepare_creep.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/vehicle/vehicle_status.hppeditdata/config/cfg_safe_const.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/vehicle/vehicle_status.cppeditconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/process/prepare/prepare_status.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditnode/process/proc/proc_move_step_controller.cppeditdata/lon_dynamics_csv_logger.cppeditconfig/config_truck/ctrl.yamleditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_safe_const.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditconfig/config_imv/ctrl.yamlnode/process/prepare/prepare_status.cppe82f625b8d5aeef068dcb7d840a6f413ec307c1f1781239521000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：只在给油门的时候检测溜车 2026-06-12 12:45:21 +0800e82f625b8d5aeef068dcb7d840a6f413ec307c1ffix：只在给油门的时候检测溜车editnode/process/prepare/prepare_status.cppAGENTS.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp5bed5c5fd899dc198092199398963c346265518b1781242754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助时的质量不低于初始质量 2026-06-12 13:39:14 +08005bed5c5fd899dc198092199398963c346265518bfeat: 起步辅助时的质量不低于初始质量editAGENTS.mdeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_steering_offset_observer.cppdata/lon_dynamics_csv_logger.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/logic.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hpp0e592465f659bdf54420b996936bf8fa72e1d3a51781256848000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加横向控制日志 2026-06-12 17:34:08 +08000e592465f659bdf54420b996936bf8fa72e1d3a5feat: 增加横向控制日志editdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/lon_dynamics_csv_logger.hppeditnode/logic.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/prepare/prepare_attr.cppnode/process/prepare/prepare_attr.hppdata/ctrl_frame.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppcadd8b326ee803d159997a4b6d79ab1837bbd66a1781512961000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加IMV运动学校验观测 2026-06-15 16:42:41 +0800cadd8b326ee803d159997a4b6d79ab1837bbd66afeat: 增加IMV运动学校验观测editdata/config/cfg_static.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppaddmath/identification/lateral_kinematics_estimator.hppeditdata/ctrl_frame.cppeditnode/process/prepare/prepare_attr.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/config/cfg_static.cppeditdata/lon_dynamics_csv_logger.hppaddmath/identification/lateral_kinematics_estimator.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_dynamic.hppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp38d157c44b39a645fe0e93a024a5f3ce8342315c1781587838000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 挡位保护 2026-06-16 13:30:38 +080038d157c44b39a645fe0e93a024a5f3ce8342315cfeat: 挡位保护editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/config/cfg_dynamic.hppeditdata/config/cfg_dynamic.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppmath/identification/lateral_kinematics_estimator.hppdata/config/cfg_static.hppnode/process/prepare/prepare_attr.cppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppec6bb5c3c894505e00848aca8f35c611479d0ee41781594968000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 实际运动轴距辨识扩展到truck 2026-06-16 15:29:28 +0800ec6bb5c3c894505e00848aca8f35c611479d0ee4feat: 实际运动轴距辨识扩展到truckeditnode/process/prepare/prepare_attr.cppeditnode/process/prepare/prepare_attr.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditmath/identification/lateral_kinematics_estimator.hppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppeditmath/identification/lateral_kinematics_estimator.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppCLAUDE.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppdata/config/cfg_static.cpp1e0ccd33b7e045107cb050f4848a2cf808472b251781686527000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 2026-06-17 16:55:27 +08001e0ccd33b7e045107cb050f4848a2cf808472b25feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿addCLAUDE.mdeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppeditdata/config/cfg_static.hppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp08dc5e0676591ff98c59f3bbca5af6f75ec1c9621781763584000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 过滤小制动 2026-06-18 14:19:44 +080008dc5e0676591ff98c59f3bbca5af6f75ec1c962feat: 过滤小制动editdata/config/cfg_proc_longctrl.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.cppbbd39b07403c1327fde05982facfc3f06fd700461782095081000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 初始参数配置为0 2026-06-22 10:24:41 +0800bbd39b07403c1327fde05982facfc3f06fd70046fix: 初始参数配置为0editdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppcd71a1e0ec24a911d8ccb1e6448fadfb20dc39821782112260000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 停车距离预估的motion less靠控制自己判断 2026-06-22 15:11:00 +0800cd71a1e0ec24a911d8ccb1e6448fadfb20dc3982feat: 停车距离预估的motion less靠控制自己判断editnode/process/prepare/prepare_attr.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppconfig/config_truck/ctrl.yamldata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppconfig/config_imv/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp51c1e1961b8083fd009ad01e35bd80775343176c1782133102000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑与坡道起步优化 2026-06-22 20:58:22 +080051c1e1961b8083fd009ad01e35bd80775343176cfeat: 起步防滑与坡道起步优化editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditconfig/config_imv/ctrl.yamleditdata/ctrl/longctrl_data.hppeditdata/ctrl/velocity_cmd.hppeditdata/vehicle/vehicle_state.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_state.hppeditdata/ctrl/velocity_cmd.cppeditdata/config/cfg_proc_longctrl.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/ctrl/longctrl_data.cppeditdata/lon_dynamics_csv_logger.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp2b92bade6ec7844f7261950678151e70a2cf2d681782357919000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:根据质量进行制动补偿功能比例定义错误修正 2026-06-25 11:25:19 +08002b92bade6ec7844f7261950678151e70a2cf2d68fix:根据质量进行制动补偿功能比例定义错误修正edittest/accel_to_pedal_converter_test.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppdata/ctrl/longctrl_data.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_status.hppmath/identification/parking_distance_estimator.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp85b4c0fcbb289743b53409770a2af8a8ef5dd5fb1782436455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加park adjust下对准停车功能 2026-06-26 09:14:15 +080085b4c0fcbb289743b53409770a2af8a8ef5dd5fbfeat: 增加park adjust下对准停车功能editdata/ctrl/observer_debug_data.cppeditdata/vehicle/vehicle_status.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/lon_dynamics_csv_logger.cppeditmath/identification/parking_distance_estimator.hppeditdata/ctrl_frame.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditmath/identification/parking_distance_estimator.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_proc_longctrl.cppeditdata/lon_dynamics_csv_logger.hppeditdata/vehicle/vehicle_status.hppeditdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditdata/ctrl/longctrl_data.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp9bf44e248ab81a727da8630a453a09e17ac405a71782538173000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix : sc 远程步进修复 2026-06-27 13:29:33 +08009bf44e248ab81a727da8630a453a09e17ac405a7fix : sc 远程步进修复editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/main.cppdata/lon_dynamics_csv_logger.cpp569fa54140733fd0691aa63b9cd5da5b5ae678d41782725845000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志打印版本信息 2026-06-29 17:37:25 +0800569fa54140733fd0691aa63b9cd5da5b5ae678d4feat: 控制日志打印版本信息editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/main.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp010c56f70b6099af54cb24e4a34759409e61df221782738424000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: park adjust停车允许5cm越冲 2026-06-29 21:07:04 +0800010c56f70b6099af54cb24e4a34759409e61df22feat: park adjust停车允许5cm越冲editalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.hppa07109ba77c415dad324a12de9671993915fbcfa1782785782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 支持双向步进振箱 2026-06-30 10:16:22 +0800a07109ba77c415dad324a12de9671993915fbcfafeat: 支持双向步进振箱editdata/config/cfg_creep.hppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/sink/ros_sink_error_info_ctrl.cppnode/sink/module.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppnode/sink/ros_sink_record_trigger.cppAGENTS.mddata/config/cfg_error.cppdata/config/cfg_error.hppc220dba36dfecb775104176ee16bdc362cb4d4b61782824347000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 防滑错误码上传 2026-06-30 20:59:07 +0800c220dba36dfecb775104176ee16bdc362cb4d4b6feat: 防滑错误码上传editdata/ctrl/longctrl_data.cppeditnode/sink/ros_sink_record_trigger.cppeditdata/config/cfg_error.hppeditnode/sink/module.cppeditdata/config/cfg_proc_longctrl.hppeditcommon/util/error_code_data.cppeditnode/sink/ros_sink_error_info_ctrl.cppeditdata/config/cfg_error.cppeditAGENTS.mdeditcommon/util/error_code_data.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.cppfdc7242fad0f04ee6469f2ac320999bda74e40eb1782868197000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 防滑报警默认关闭 2026-07-01 09:09:57 +0800fdc7242fad0f04ee6469f2ac320999bda74e40ebfix: 防滑报警默认关闭editdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_lon_dynamic_mpc.cppdata/ctrl/velocity_cmd.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp9e3e6b1b2af956dd33bd844206a2d19bce82971b1782958390000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转弯积分补偿 2026-07-02 10:13:10 +08009e3e6b1b2af956dd33bd844206a2d19bce82971bfeat: 转弯积分补偿editdata/ctrl/velocity_cmd.cppeditdata/ctrl/velocity_cmd.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp097da880b8f2328165b2fd6da04fd3211057bf311782992844000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步防滑不报错问题修复 2026-07-02 19:47:24 +0800097da880b8f2328165b2fd6da04fd3211057bf31fix: 起步防滑不报错问题修复editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppdata/vehicle/vehicle_command.cppnode/sink/ros_sink_command.cppdata/vehicle/vehicle_command.hppnode/source/ros_source_parallel_cmd.cppnode/process/proc/proc_move_step_controller.cppf4ae7fb97a4fb8dde5af92f927ab28a2b661278b1782996737000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停的正确清空 2026-07-02 20:52:17 +0800f4ae7fb97a4fb8dde5af92f927ab28a2b661278bfeat: 急停的正确清空editdata/vehicle/vehicle_command.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/source/ros_source_remote_cmd.cppeditdata/ctrl_frame.cppeditdata/vehicle/vehicle_command.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cpp7de79cd8aa28d2bee27f620b762f657dd4973ede1782997091000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 只保留ee的机械急停 2026-07-02 20:58:11 +08007de79cd8aa28d2bee27f620b762f657dd4973edefeat: 只保留ee的机械急停editalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppf794cd9d1706cdb27c2446a304d48032c1d8bc321783048306000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 振箱策略更改 2026-07-03 11:11:46 +0800f794cd9d1706cdb27c2446a304d48032c1d8bc32feat: 振箱策略更改editalgorithm/ctrl/lon_controller/truck_creep_common.hppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/vehicle/trailer_posture.cppdata/config/cfg_static.hppdata/config/cfg_static.cpp910a649914dc3515f51b8a11050ac9c0ecc539531783319489000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_compensation 2026-07-06 14:31:29 +0800910a649914dc3515f51b8a11050ac9c0ecc53953fix: add trailer_angle_compensationeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppeditdata/vehicle/trailer_posture.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppnode/process/proc/proc_move_step_controller.cpp14371a5b3b57af39f79810d2b036549968786ea71783330071000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 步进模式下传给mpc的参考速度序列修正 2026-07-06 17:27:51 +080014371a5b3b57af39f79810d2b036549968786ea7feat: 步进模式下传给mpc的参考速度序列修正editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/vehicle/trailer_posture.cppnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppb0f8d76bff9bbb19bbeb318422d46e9553383add1783340694000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle compensation 2026-07-06 20:24:54 +0800b0f8d76bff9bbb19bbeb318422d46e9553383addfix: trailer angle compensationeditdata/vehicle/trailer_posture.cppeditnode/process/prepare/prepare_traj.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppscripts/trailer_angle_compensation_identify.py1config/config_car/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_mpc_qp.hppalgorithm/util/steer_latency_estimator.cppdata/config/cfg_mpc_qp.cppconfig/config_imv/ctrl.yamltest/steer_latency_estimator_test.cpptest/CMakeLists.txtalgorithm/util/steer_latency_estimator.hpp98fbc0e229dee40569f7e2c77db56dfd81cdcda71783488779000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: steering latency compensation for reversing truck controller 2026-07-08 13:32:59 +080098fbc0e229dee40569f7e2c77db56dfd81cdcda7feat: steering latency compensation for reversing truck controllereditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppaddalgorithm/util/steer_latency_estimator.cppedittest/CMakeLists.txtaddalgorithm/util/steer_latency_estimator.hppaddscripts/trailer_angle_compensation_identify.pyeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditconfig/config_sc/ctrl.yamleditnode/process/proc/proc_lateral_controller.hppadd1editconfig/config_truck/ctrl.yamleditdata/config/cfg_mpc_qp.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_mpc_qp.hppeditconfig/config_imv/ctrl.yamladdtest/steer_latency_estimator_test.cppeditnode/process/proc/proc_lateral_controller.cppeditconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamlscripts/steering_delay_identify.py1fd102d3c5df605c12e2ebe750772a7150a2587b1783488836000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering delay identification 2026-07-08 13:33:56 +08001fd102d3c5df605c12e2ebe750772a7150a2587bfix: steering delay identificationeditconfig/config_truck/ctrl.yamladdscripts/steering_delay_identify.pyalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.shalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe1c54ece7cb7be8b767adb7b4bac62507bd864041783516837000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: record debug data 2026-07-08 21:20:37 +0800e1c54ece7cb7be8b767adb7b4bac62507bd86404fix: record debug dataeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppaddscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.sh.gitignorealgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe4bcbd5e760d22d3f3b3be39e10a19c387b4a7ea1783574062000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering latency compensation optimizaiton 2026-07-09 13:14:22 +0800e4bcbd5e760d22d3f3b3be39e10a19c387b4a7eafix: steering latency compensation optimizaitonedit.gitignoreeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp95b44b0683cde2c206bcb623b935c1b543df6eb21783671593000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性 2026-07-10 16:19:53 +080095b44b0683cde2c206bcb623b935c1b543df6eb2feat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性editdata/ctrl/lateral_ctrl_debug_data.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppadddata/ctrl/lat_mpc_debug_snapshot.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditdata/ctrl/lateral_ctrl_debug_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/lon_dynamics_csv_logger.hpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp5c056ad3aea23ce67a66cdbbb4d49d33049a6f251783675937000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 将减速度标定质量独立 2026-07-10 17:32:17 +08005c056ad3aea23ce67a66cdbbb4d49d33049a6f25feat: 将减速度标定质量独立editdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppdata/config/cfg_mpc_qp.cppdata/vehicle/trailer_state.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_mpc_qp.hppa66e556979e757a3ae74f9e4ebce30211c574d791783948207000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle bug 2026-07-13 21:10:07 +0800a66e556979e757a3ae74f9e4ebce30211c574d79fix: trailer angle bugeditdata/vehicle/trailer_state.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_mpc_qp.cppeditdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.cppnode/sink/ros_sink_command.hppdata/ctrl_frame.cppdata/plan/plan_data.cpptest/controller_minimal_red_test.cppnode/process/proc/proc_move_step_controller.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.hppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppdata/plan/plan_data.hppnode/process/proc/proc_move_step_controller.cpp6534e8a1ade78a27cf7afb8b4fbd4eb26b84436c1784007272000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型新增横向平移和自转功能 2026-07-14 13:34:32 +08006534e8a1ade78a27cf7afb8b4fbd4eb26b84436cfeat: SC车型新增横向平移和自转功能addalgorithm/ctrl/lon_controller/sc_rotation_controller.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditnode/process/prepare/prepare_creep.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl_frame.cppedittest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditnode/process/proc/proc_move_step_controller.hppeditnode/sink/ros_sink_command.hppeditdata/plan/plan_data.hppeditnode/process/prepare/prepare_creep.cppeditdata/config/cfg_creep.cppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp9df154e555b5f6b7456e440e199744897a7696c51784013710000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步阶段不再强制变更使用质量 2026-07-14 15:21:50 +08009df154e555b5f6b7456e440e199744897a7696c5fix: 起步阶段不再强制变更使用质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/vehicle/trailer_state.hppscripts/trailer_wheelbase_raw_fit.pydata/vehicle/trailer_state.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppalgorithm/ctrl/observer/trailer_angle_observer.cppscripts/record_reversing_tuning.shalgorithm/ctrl/observer/trailer_angle_observer.hppnode/logic.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/observer/trailer_angle_estimator.hppdata/config/cfg_mpc_qp.cppscripts/trailer_angle_estimator_offline_test.pyalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdata/config/cfg_estimator.cppnode/process/prepare/prepare_state.cppnode/process/prepare/prepare_state.hppscripts/trailer_wheelbase_estimate.pyalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppdata/config/cfg_estimator.hpp6f7098be72e39fcdda229bc787df356c6ce0805c1784016412000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_replay_ekf 2026-07-14 16:06:52 +08006f7098be72e39fcdda229bc787df356c6ce0805cfix: add trailer_angle_replay_ekfaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppeditscripts/record_reversing_tuning.sheditdata/vehicle/trailer_state.hppdeletealgorithm/ctrl/observer/trailer_angle_observer.hppdeletealgorithm/ctrl/observer/trailer_angle_observer.cppeditdata/config/cfg_mpc_qp.hppaddalgorithm/ctrl/observer/trailer_angle_estimator.hppeditdata/config/cfg_mpc_qp.cppeditdata/vehicle/trailer_state.cppaddscripts/trailer_wheelbase_estimate.pyaddscripts/trailer_angle_estimator_offline_test.pyaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppeditnode/logic.cppadddata/config/cfg_estimator.hppaddscripts/trailer_wheelbase_raw_fit.pyadddata/config/cfg_estimator.cppeditnode/process/prepare/prepare_state.cppeditnode/process/prepare/prepare_state.hppnode/sink/ros_sink_command.cpp6801a2c3848d1ec3572cf601552ed6b7244a160a1784017052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底盘为空时认为静止 2026-07-14 16:17:32 +08006801a2c3848d1ec3572cf601552ed6b7244a160afeat: 底盘为空时认为静止editnode/sink/ros_sink_command.cppnode/sink/ros_sink_command.cpp124326ae01e4d4b7d2d767f65df25cd2e5235cae1784017622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: SC模式切换保护 2026-07-14 16:27:02 +0800124326ae01e4d4b7d2d767f65df25cd2e5235caefix: SC模式切换保护editnode/sink/ros_sink_command.cppnode/process/proc/proc_move_step_controller.cppd3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d11784021485000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC横移模式指令值更改 2026-07-14 17:31:25 +0800d3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d1feat: SC横移模式指令值更改editnode/process/proc/proc_move_step_controller.cppdata/vehicle/trailer_state.hppdata/ctrl/longctrl_data.hppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppnode/process/proc/proc_longitude_controller.hppscripts/reversing_tuning_2026-07-14-17-36-37_0.bagalgorithm/ctrl/lon_controller/reversing_speed_governor.hppscripts/steer_rate_identify.pyscripts/record_reversing_tuning.shalgorithm/ctrl/lon_controller/reversing_speed_governor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/observer/trailer_angle_estimator.hppnode/process/proc/proc_longtiude_controller.cppdata/config/cfg_estimator.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_estimator.hppa53c2f1059876cc5d0474ce4cfecd902333bb61a1784023043000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add speed governor 2026-07-14 17:57:23 +0800a53c2f1059876cc5d0474ce4cfecd902333bb61afix: add speed governoraddalgorithm/ctrl/lon_controller/reversing_speed_governor.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppaddscripts/reversing_tuning_2026-07-14-17-36-37_0.bageditalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppeditdata/config/cfg_estimator.cppeditscripts/record_reversing_tuning.shaddscripts/steer_rate_identify.pyeditdata/vehicle/trailer_state.hppeditnode/process/proc/proc_longitude_controller.hppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.cppeditdata/config/cfg_estimator.hppeditnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/observer/trailer_angle_estimator.hppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppconfig/config_truck/ctrl.yamla1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25e1784023651000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-14 18:07:31 +0800a1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25efix: update configeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.py2819dab08ee479e0201d1aed1680aa2be9246c651784083113000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: auto recording script 2026-07-15 10:38:33 +08002819dab08ee479e0201d1aed1680aa2be9246c65fix: auto recording scripteditscripts/record_reversing_tuning.shaddscripts/record_reversing_tuning_auto.pyscripts/reversing_tuning_2026-07-14-17-36-37_0.bag.gitignore4038141f709b3b3e83e0bfb66db5e9cd9cb16a701784083171000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore bag files 2026-07-15 10:39:31 +08004038141f709b3b3e83e0bfb66db5e9cd9cb16a70fix: ignore bag filesedit.gitignoredeletescripts/reversing_tuning_2026-07-14-17-36-37_0.bagalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppscripts/record_reversing_tuning_auto.py.gitignoreb1beaecb1ca219abbf2c89ef822d64e094ce92711784172505000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wire steer into mpc_solver 2026-07-16 11:28:25 +0800b1beaecb1ca219abbf2c89ef822d64e094ce9271fix: wire steer into mpc_solveredit.gitignoreeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditscripts/record_reversing_tuning_auto.pyalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/longctrl_data.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppdata/config/cfg_lon_dynamic_mpc.cppcommon/util/error_code_data.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_error.hpp99aa91653de1a39900d7dbd1575428d8f1c6ac151784195668000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启 2026-07-16 17:54:28 +080099aa91653de1a39900d7dbd1575428d8f1c6ac15feat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启editcommon/util/error_code_data.cppeditdata/config/cfg_error.hppeditdata/config/cfg_error.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditcommon/util/error_code_data.hppeditdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.hppeditnode/process/proc/proc_lateral_controller.hppeditnode/process/proc/proc_lateral_controller.cppeditdata/ctrl/longctrl_data.cppeditdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hppa65074757d10b414c4eaf171bd3a567e71f302ed1784338229000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer angle comp calibrator 2026-07-18 09:30:29 +0800a65074757d10b414c4eaf171bd3a567e71f302edfix: add trailer angle comp calibratoreditnode/process/proc/proc_lateral_controller.cppeditnode/logic.cppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditdata/config/cfg_steering_offset_observer.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppeditdata/config/cfg_static.hppeditdata/config/cfg_steering_offset_observer.hppeditnode/process/prepare/prepare_traj.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.pyalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppf2cf046433f383df82ac73ef7465882b5e4af3d01784339449000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update debug message 2026-07-18 09:50:49 +0800f2cf046433f383df82ac73ef7465882b5e4af3d0fix: update debug messageeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditscripts/record_reversing_tuning_auto.pyeditnode/process/proc/proc_lateral_controller.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_estimator.cppdata/config/cfg_steering_offset_observer.cppdata/config/cfg_estimator.hppbf75a5f41e149319bc0641c71022dce6c3e1d2611784339959000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-18 09:59:19 +0800bf75a5f41e149319bc0641c71022dce6c3e1d261fix: update configeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_estimator.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_estimator.hppd8346a561beab1e16bcdc7db5de1dfb0052cebea1784344703000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: calib bug 2026-07-18 11:18:23 +0800d8346a561beab1e16bcdc7db5de1dfb0052cebeafix: calib bugeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp39ab21eb0b2f80f2bac76ec8bbfa9dc08b5175761784515280000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: update params 2026-07-20 10:41:20 +080039ab21eb0b2f80f2bac76ec8bbfa9dc08b517576fix: update paramseditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_estimator.hpp90e42e33b20e28f38ff59ed51e0712967612a0481784612123000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add startup_blank_s 2026-07-21 13:35:23 +080090e42e33b20e28f38ff59ed51e0712967612a048fix: add startup_blank_seditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_estimator.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_estimator.hpp390447bdd6b2984c81967581a0ddb28675f016501784615532000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_angle_comp opt 2026-07-21 14:32:12 +0800390447bdd6b2984c81967581a0ddb28675f01650fix: trailer_angle_comp opteditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/config/cfg_static.cppbcdaee342f0b1da318246caad3a3071ee85582d51784685990000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向补偿超限报警单边停车质量补偿 2026-07-22 10:06:30 +0800bcdaee342f0b1da318246caad3a3071ee85582d5feat: 转向补偿超限报警单边停车质量补偿editnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_static.cppeditdata/config/cfg_static.hppeditdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/imv_lon_controller.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_proc_longctrl.cpp3f82d685beabf540889d45c6432c56a7a34ac4741784806231000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型 2026-07-23 19:30:31 +08003f82d685beabf540889d45c6432c56a7a34ac474feat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型editalgorithm/ctrl/lon_controller/imv_lon_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/lon_dynamics_csv_logger.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/process/prepare/prepare_creep.cppe4873c663b5762670fea9c8d87cc795fa7fd93e71784972051000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型运动方向固定增加每个轮子角度的观测 2026-07-25 17:34:11 +0800e4873c663b5762670fea9c8d87cc795fa7fd93e7feat: SC车型运动方向固定增加每个轮子角度的观测edittest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/lon_dynamics_csv_logger.cppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_creep.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/longctrl_data.hppd8fdaa567faea3dfe934bea7a08d5a46d33a12b31785217795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 提前停车功能反向前进处理 2026-07-28 13:49:55 +0800d8fdaa567faea3dfe934bea7a08d5a46d33a12b3fix: 提前停车功能反向前进处理editdata/ctrl/longctrl_data.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppdata/ctrl_frame.cpp5181def0cc248e6394d1271fcded403de4dbb96d1785289377000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: emergency_brake的正确记录 2026-07-29 09:42:57 +08005181def0cc248e6394d1271fcded403de4dbb96dfix: emergency_brake的正确记录editdata/ctrl_frame.cppnode/process/proc/proc_assist.cpp5859981114a107f794b7e84e7b53a5b824f5c2ff1785308460000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化转向灯逻辑 2026-07-29 15:01:00 +08005859981114a107f794b7e84e7b53a5b824f5c2fffeat: 优化转向灯逻辑editnode/process/proc/proc_assist.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/CMakeLists.txt619b0f25fbc0f815443400660b3313cdd14d368c1785397047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强 2026-07-30 15:37:27 +0800619b0f25fbc0f815443400660b3313cdd14d368cfeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppdeletetest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl_frame.cppedittest/CMakeLists.txteditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/process/prepare/prepare_creep.cpp24f3f0756fa9f0c093f04752ff2b0456a4c95bcb1785411997000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC步进横移bug 2026-07-30 19:46:37 +080024f3f0756fa9f0c093f04752ff2b0456a4c95bcbfeat: SC步进横移bugeditnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc5d564ce2688fadaff079def5859974d0d954c3b1785468117000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: estop函数积分保护失效的bug 2026-07-31 11:21:57 +0800c5d564ce2688fadaff079def5859974d0d954c3bfeat: estop函数积分保护失效的bugeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp1927a9895e4c32ed5edea82fc5636c8730b16f511785476200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停使用的FollowCtrlDcc函数积分优化 2026-07-31 13:36:40 +08001927a9895e4c32ed5edea82fc5636c8730b16f51feat: 急停使用的FollowCtrlDcc函数积分优化editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lat_controller/augment_mpc.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/augment_mpc.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp4c5520c159f2ea3df98b7242f288174f685987181785481228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck 横向变步长mpc 2026-07-31 15:00:28 +08004c5520c159f2ea3df98b7242f288174f68598718feat: truck 横向变步长mpceditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/augment_mpc.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditnode/process/proc/proc_lateral_controller.cppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditdata/config/cfg_mpc_qp.cppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_lateral_controller.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppb7cd2cf88402037855d918a02115962b9ee439921785760215000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:30:15 +0800b7cd2cf88402037855d918a02115962b9ee43992feat: IMV零偏补偿航向学习错误editalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/vehicle/vehicle_state.cppeditnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_lateral_controller.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/vehicle/vehicle_state.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/observer/steering_offset_observer.hppnode/process/prepare/prepare_state.cpp58ba4a4224fe5043c2dca006e034a204a61de5451785760857000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:40:57 +080058ba4a4224fe5043c2dca006e034a204a61de545feat: IMV零偏补偿航向学习错误editdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/vehicle/vehicle_state.cppeditnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_lateral_controller.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppalgorithm/ctrl/lat_controller/rotation_control_logic.hppalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txttest/augment_mpc_rotation_control_test.cpptest/rotation_control_logic_test.cpp2737676a5ed99a956b9c351ccb97d3d9dea13a851785902613000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reject inconsistent rotation direction 2026-08-05 12:03:33 +08002737676a5ed99a956b9c351ccb97d3d9dea13a85fix: reject inconsistent rotation directioneditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/rotation_control_logic.hppaddtest/augment_mpc_rotation_control_test.cppaddtest/rotation_control_logic_test.cppedittest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20b1785982611000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(control): guard MPC during rotation command dropout 2026-08-06 10:16:51 +0800ae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20bfix(control): guard MPC during rotation command dropouteditalgorithm/ctrl/lat_controller/augment_mpc.cppedittest/CMakeLists.txtedittest/augment_mpc_rotation_control_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.cpptest/augment_mpc_rotation_control_test.cppb72d6f747d9460cb2b0df84cb9533733a9252bef1785982857000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix(control): guard MPC during rotation command dropout 2026-08-06 10:20:57 +0800b72d6f747d9460cb2b0df84cb9533733a9252beffix(control): guard MPC during rotation command dropouteditalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppedittest/augment_mpc_rotation_control_test.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp3b449fb05c5b7d21836620ae9116992425f70f421786020525000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向积分补偿释放参数配置化 2026-08-06 20:48:45 +08003b449fb05c5b7d21836620ae9116992425f70f42feat: 转向积分补偿释放参数配置化editdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp6930425329e70d8e2226634e5cf85c296d5893401786069499000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 变时域横向控制器优化调整 2026-08-07 10:24:59 +08006930425329e70d8e2226634e5cf85c296d589340feat: 变时域横向控制器优化调整editalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditdata/config/cfg_mpc_qp.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditdata/config/cfg_mpc_qp.hppdata/ctrl_frame.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl/lateral_ctrl_debug_data.cpp2c14365ecd44d0b0756caf9a4d8271e2bf8ed6611786414761000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：纵向控制器记录消耗时间 2026-08-11 10:19:21 +08002c14365ecd44d0b0756caf9a4d8271e2bf8ed661feat：纵向控制器记录消耗时间editalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/ctrl/lateral_ctrl_debug_data.cppeditdata/ctrl/lateral_ctrl_debug_data.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppcommon/util/thr_helper.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_mpc_qp.cppdata/ctrl/lat_mpc_debug_snapshot.hppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppc99e7023c1f54da56525a681048b294e33bef2be1786448954000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:IMV 横向控制增加考虑延迟的控制器 2026-08-11 19:49:14 +0800c99e7023c1f54da56525a681048b294e33bef2befeat:IMV 横向控制增加考虑延迟的控制器editalgorithm/ctrl/lat_controller/augment_mpc.cppeditcommon/util/thr_helper.hppaddalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_lateral_controller.hppaddalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditdata/config/cfg_mpc_qp.hppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hpp0cd819d881a85d8a750b32b2f01480a115a5805a1786620301000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分 2026-08-13 19:25:01 +08000cd819d881a85d8a750b32b2f01480a115a5805afeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hppd6788726061ce59bd35ba72b1e55b795538289a51786623202000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 加速度计算不考虑定位标志位 2026-08-13 20:13:22 +0800d6788726061ce59bd35ba72b1e55b795538289a5feat: 加速度计算不考虑定位标志位editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp156250a2e7ada9a321c7cd15a992d98bae5850d71787052778000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车 2026-08-18 19:32:58 +0800156250a2e7ada9a321c7cd15a992d98bae5850d7feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp8afc7758e9023e25873624546b763cb4a15e5c791787055114000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SafePreprocess 优化 2026-08-18 20:11:54 +08008afc7758e9023e25873624546b763cb4a15e5c79feat: SafePreprocess 优化editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppnode/process/proc/proc_longitude_controller.hppdata/ctrl_frame.cppAGENTS.mdalgorithm/ctrl/lon_controller/truck_creep_common.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppec73467c27dccefb955c3a74b30f306c9c2a06f31787629522000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准和刹车时的减速度积分防护 2026-08-25 11:45:22 +0800ec73467c27dccefb955c3a74b30f306c9c2a06f3feat: 对准和刹车时的减速度积分防护editdata/ctrl_frame.cppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditnode/process/proc/proc_move_step_controller.cppeditdata/ctrl/creep_data.hppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/config/cfg_lon_dynamic_mpc.cppc24e325c3ae5fa341e83b7105923424ec06449181787731216000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 转向补偿默认关闭 2026-08-26 16:00:16 +0800c24e325c3ae5fa341e83b7105923424ec0644918fix: 转向补偿默认关闭editdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_log.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppdata/config/cfg_static.hppalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_log.hpptest/CMakeLists.txtdata/config/cfg_estimator.hppb2ad339b4232655d14c328cc123a059f03de80f81787823334000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add forward trailer bias estimator v2 2026-08-27 17:35:34 +0800b2ad339b4232655d14c328cc123a059f03de80f8feat: add forward trailer bias estimator v2deletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.hppedittest/CMakeLists.txteditnode/logic.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_log.hppeditdata/config/cfg_static.hppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_log.cppaddtest/forward_trailer_bias_estimator_test.cppeditdata/config/cfg_estimator.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamladdalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp5f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf991788255862000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefactor(control): simplify trailer bias validation 2026-09-01 17:44:22 +08005f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf99refactor(control): simplify trailer bias validationedittest/forward_trailer_bias_estimator_test.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_proc_longctrl.hppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.cppad844f7e4b7fa0fb6f7848a0b6739a20c847ebfc1788436361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 堆高机和步进提前停车 2026-09-03 19:52:41 +0800ad844f7e4b7fa0fb6f7848a0b6739a20c847ebfcfeat: 堆高机和步进提前停车editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppscripts/analyze_bias_stop_exclusion.pynode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppdata/config/cfg_estimator.cppscripts/plot_last_bias_estimator_boxes.pydata/config/cfg_estimator.hppb713440355124783638400636683659be57d55f11788490627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat(control): filter pre-stop trailer bias samples 2026-09-04 10:57:07 +0800b713440355124783638400636683659be57d55f1feat(control): filter pre-stop trailer bias samplesaddscripts/analyze_bias_stop_exclusion.pyeditnode/process/proc/proc_lateral_controller.cppaddscripts/plot_last_bias_estimator_boxes.pyeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppedittest/forward_trailer_bias_estimator_test.cppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cpp9cdc4fa6de4adf4b5154b965dafa1be4b6df91721788915814000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：横向控制器使用的速度不低于1m/s 2026-09-09 09:03:34 +08009cdc4fa6de4adf4b5154b965dafa1be4b6df9172feat：横向控制器使用的速度不低于1m/seditalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppgitsrc/RMInterpreter/ros_mqtt_bridge.cpp83b36a2806bc6618308da7136111f4128d8694e31789106500000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加消息/localization/init下发 2026-09-11 14:01:40 +080083b36a2806bc6618308da7136111f4128d8694e3feat_out:增加消息/localization/init下发editsrc/RMInterpreter/ros_mqtt_bridge.cppgitmachine_metrics/src/info/power_info.cppmachine_metrics/src/config_loader.hmachine_metrics/src/info/ptp_info.htools/error_codes.tomlmachine_metrics/src/info/ptp_info.cpptools/fetch_confluence_error_infos.pymachine_metrics/src/info/power_info.h91e374b975fadbcae69278e49958fcd7a062a0dd1789021409000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加sudo 密码读取逻辑 2026-09-10 14:23:29 +080091e374b975fadbcae69278e49958fcd7a062a0ddfeat_out:增加sudo 密码读取逻辑edittools/fetch_confluence_error_infos.pyeditmachine_metrics/src/info/power_info.cppeditmachine_metrics/src/info/power_info.hedittools/error_codes.tomleditmachine_metrics/src/info/ptp_info.cppeditmachine_metrics/src/info/ptp_info.heditmachine_metrics/src/config_loader.hgitcommon/container_compensate.cpp118f3bab0d5a8f3e56b62b6461a64f8fd8010e611788946321000http://159.27.114.184:8080/jenkins/user/liuhaoliuhaoliuhao@senior.autoupdate suspend container point select 2026-09-09 17:32:01 +0800118f3bab0d5a8f3e56b62b6461a64f8fd8010e61update suspend container point selecteditcommon/container_compensate.cppgitparams/localization_region.yaml4593f832d99339032bbf1f810fcdda8e9ae444e31788948736000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加下沙吊具空区域 2026-09-09 18:12:16 +08004593f832d99339032bbf1f810fcdda8e9ae444e3添加下沙吊具空区域editparams/localization_region.yamlparams/localization_region.yaml173bf38969ebb0109c038f00a8dcf11e38cda6a51788952580000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto下沙吊具检出区 2026-09-09 19:16:20 +0800173bf38969ebb0109c038f00a8dcf11e38cda6a5下沙吊具检出区editparams/localization_region.yamlgitsrc/source/source_pointcloud_ros.hppbf2ccb2aafaa849dcf63c9a588060325e5bdba3a1789033864000http://159.27.114.184:8080/jenkins/user/xiaosonglanxiaosonglanxiaosonglan@gmail.comfix: /msf/dr_pose 的 pose_frame_id 应为 imu, 不是 base_ground pose_frame_id 决定 lookupTransform(pose_frame_id, frame_id_) 取到的 trans_lidar_to_imu —— 即把点云搬到「位姿所在刚体」的外参, 所以它必须和 pose 话题描述的刚体对上: /msf/imu_pose_raw_estimate -> imu_raw (原本就对) /msf/dr_pose -> imu (原先错写成 base_ground) /vehicle/localization -> base_ground (原先没有这条分支) 原先 dr_pose 被强制成 base_ground, 力臂差了整整 5.007m: AT002 车上 tf_static 实测 base_ground->imu = (4.450, 0.760, 2.165) 且旋转差 0.000°, 即 imu->lidar_front=(1.688,-0.780,0.810) vs base_ground->lidar_front=(6.138,-0.020,2.975)。补偿误差 ≈ 帧内转角 × 5.007m。用 AT002「直行+转弯」实包(2038 条 dr_pose, 车速中位 6.89 m/s / 最大 21.6 m/s)按四元数帧间差算 100ms 内转角: 中位 0.1263° -> 1.10 cm P90 0.3313° -> 2.90 cm P99 0.7755° -> 6.78 cm 最大 1.1158° -> 9.76 cm 直行时转角趋零、误差趋零 —— 港口对位场景基本蠕行, 所以这个 bug 被掩盖了一年, 干线车高速转弯才显现。刚体归属由定位侧确认: dr_pose=imu, imu_pose_raw_estimate=imu_raw, vehicle/localization=base_ground。源头是 4cd98d4(2025-09-24, zhjfeng, feat_out:增加运动补偿处理) 的原始实现, 除 main 外所有分支都继承了它。同一处错误也存在于 rslidar_sdk 与 hesai_lidar, 一并修正。 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_017V8WSMEpax2mkbuxiXr7FK 2026-09-10 05:51:04 -0400bf2ccb2aafaa849dcf63c9a588060325e5bdba3afix: /msf/dr_pose 的 pose_frame_id 应为 imu, 不是 base_groundeditsrc/source/source_pointcloud_ros.hppgitconfig/truck/hesai_config_top90_offline.yamlconfig/truck/hesai_config_right_offline.yamlconfig/truck/hesai_config_left_p40m_offline.yamlconfig/imv/hesai_config_left_front_online.yamlconfig/truck/hesai_config_right_p40m_offline.yamlconfig/imv/hesai_config_right_front_offline.yamlconfig/imv/hesai_config_left_rear_offline.yamlconfig/imv/hesai_config_right_front_online.yamlconfig/truck/hesai_config_left_offline.yamlconfig/truck/hesai_config_left_p40m_online.yamlsrc/main.ccconfig/truck/hesai_config_left_online.yamlconfig/truck/hesai_config_top_offline.yamlconfig/imv/hesai_config_right_rear_offline.yamlconfig/truck/hesai_config_right_online.yamlconfig/imv/hesai_config_left_rear_online.yamlconfig/imv/hesai_config_left_front_offline.yamlconfig/imv/hesai_config_right_rear_online.yamlconfig/truck/hesai_config_top_p40m_online.yamlconfig/truck/hesai_config_top_p40m_offline.yamlconfig/truck/hesai_config_right_p40m_online.yamlconfig/truck/hesai_config_top_online.yaml2ae1bae03bcc2aa6acf8e12d4071b72aff38b5de1789034243000http://159.27.114.184:8080/jenkins/user/xiaosonglanxiaosonglanxiaosonglan@gmail.comfix: motion_compensate_pose_frame_id 按 pose 话题取值, dr_pose 应为 imu pose_frame_id 决定 lookupTransform(pose_frame_id, frame_id) 取到的 lidar->pose-frame 外参, 必须和 pose 话题描述的刚体对上: /msf/dr_pose -> imu (原先缺省 base_ground) /vehicle/localization -> base_ground (原先也是 base_ground, 本来就对) 原先无论哪个话题都缺省 base_ground, 走 dr_pose 时力臂差一整段 base_ground->imu: 干线 AT002 车上 tf_static 实测 (4.450, 0.760, 2.165) 共 5.007m 且旋转差 0.000°。补偿误差 ≈ 帧内转角 × 5.007m。用 AT002「直行+转弯」实包(2038 条 dr_pose, 车速中位 6.89 m/s / 最大 21.6 m/s)按四元数帧间差算 100ms 内转角: 中位 0.1263° -> 1.10 cm P90 0.3313° -> 2.90 cm P99 0.7755° -> 6.78 cm 最大 1.1158° -> 9.76 cm 直行时转角趋零、误差趋零 —— 港口对位场景基本蠕行, 所以这个 bug 一直没显现。刚体归属由定位侧确认: dr_pose=imu, imu_pose_raw_estimate=imu_raw, vehicle/localization=base_ground。改动: - main.cc: 结构体缺省值 base_ground -> imu; LoadConfig() 里按话题校验并打 ERROR - config/imv/*.yaml + config/truck/*.yaml 共 21 处: topic 全是 /msf/dr_pose, frame 由 base_ground 改 imu ⚠️ 这些是港口车在用的配置, 下次部署后补偿结果会变化(变正确), 涉及历史标注/ 建图数据一致性, 需与定位组和数据侧确认后再下发。同源问题存在于 rslidar_sdk_new(dev_ros2/rc_dev/dev)、rslidar_sdk(rc_dev/dev) 与本仓库 dev_ros2, 已一并修正; 源头是 rslidar_sdk_new 的 4cd98d4(2025-09-24, zhjfeng)。 via [HAPI](https://hapi.run) Co-Authored-By: HAPI <noreply@hapi.run> Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_017V8WSMEpax2mkbuxiXr7FK 2026-09-10 05:57:23 -04002ae1bae03bcc2aa6acf8e12d4071b72aff38b5defix: motion_compensate_pose_frame_id 按 pose 话题取值, dr_pose 应为 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