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统一pnc_debug_msg/ObesrverDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msgperipheral_msgs/msg/VehicleStatus.msg6895a9be22aef5e00689b15840fef864a12621631767690354000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加剩余续航里程字段 2026-01-06 17:05:54 +08006895a9be22aef5e00689b15840fef864a1262163feat_out:增加剩余续航里程字段editperipheral_msgs/msg/VehicleStatus.msgcloud_msgs/msg/TosTask.msgbd0af1a7eaa469088ebc6fa88194e792a9f60df61768558159000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:字段精度调整 2026-01-16 18:09:19 +0800bd0af1a7eaa469088ebc6fa88194e792a9f60df6feat_out:字段精度调整editcloud_msgs/msg/TosTask.msgtos_msgs/msg/PeripheralCmd.msg3e9f6f0cd2346406b4879f68c4910996c8dc821c1769061366000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修改外设cmd消息 2026-01-22 13:56:06 +08003e9f6f0cd2346406b4879f68c4910996c8dc821cfeat_out:修改外设cmd消息edittos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/VehicleStatus.msg3fe6e282961013cb8190e7ba878ca9bbc6c34a411770085537000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加外设状态反馈字段 2026-02-03 10:25:37 +08003fe6e282961013cb8190e7ba878ca9bbc6c34a41feat_out:增加外设状态反馈字段editperipheral_msgs/msg/VehicleStatus.msgtos_msgs/msg/PeripheralCmd.msg78742f614045dfc91b5e32773a9faa46dfebc4f01770281061000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:外设命令cmd枚举调整 2026-02-05 16:44:21 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+0800b1e42a87435fb81745d25a9d32411056734862b8feat_out:添加云端规划消息editcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/CloudPlanningResponse.msgaddcloud_msgs/msg/CloudPlanning.msgaddcloud_msgs/msg/CloudPlanningPoint.msgcloud_msgs/msg/CloudPlanningResponse.msg23f556d99666ecfa4db447aff433ea4686f256861772520930000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:add cloud_planning_response 2026-03-03 14:55:30 +080023f556d99666ecfa4db447aff433ea4686f25686feat_out:add cloud_planning_responseeditcloud_msgs/msg/CloudPlanningResponse.msgperipheral_msgs/msg/VehicleStatus.msgb338fbf811a4f2c0c39e71ee62f18c35757f0b1d1773803625000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加续航里程字段 2026-03-18 11:13:45 +0800b338fbf811a4f2c0c39e71ee62f18c35757f0b1dfeat_out:增加续航里程字段editperipheral_msgs/msg/VehicleStatus.msgads_msgs/msg/HfsmState.msg9e61cf69319a9a472e75f01c8ed741aad6dc7a6f1773999979000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg):添加是否越过当前边界的标志位 2026-03-20 17:46:19 +08009e61cf69319a9a472e75f01c8ed741aad6dc7a6fchore(msg):添加是否越过当前边界的标志位editads_msgs/msg/HfsmState.msgtos_msgs/msg/PncConfiguration.msg0daa1f7f08156df5a55cf90342da631b318e2d3d1775655112000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore(msg): 添加距离阈值内不避让排队车辆的标志位 2026-04-08 21:31:52 +08000daa1f7f08156df5a55cf90342da631b318e2d3dchore(msg): 添加距离阈值内不避让排队车辆的标志位edittos_msgs/msg/PncConfiguration.msgcomm_msgs/msg/Traj.msgb34e00e37e0d3a5818ba0ebb75422c11ae3b6b281776064859000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-13 15:20:59 +0800b34e00e37e0d3a5818ba0ebb75422c11ae3b6b28feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgtos_msgs/msg/PeripheralCmd.msg4c96c8a35f2498ec41691f02e4e5b3f87104d8331776161260000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加沈汽环卫上装控制 2026-04-14 18:07:40 +08004c96c8a35f2498ec41691f02e4e5b3f87104d833feat_out:增加沈汽环卫上装控制edittos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/VehicleStatus.msg2762395f197d1dcc14647d4e7bca0c6a467b69b61776246597000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:补充外设字段 2026-04-15 17:49:57 +08002762395f197d1dcc14647d4e7bca0c6a467b69b6feat_out:补充外设字段editperipheral_msgs/msg/VehicleStatus.msgcomm_msgs/msg/Traj.msgaed54f80025d95dc2fa58fadb5f26bd1c46d4b0d1776396428000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-04-17 11:27:08 +0800aed54f80025d95dc2fa58fadb5f26bd1c46d4b0dfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgpnc_debug_msgs/msg/ObserverDebug.msge1ea7d61508080e52f9048605a18ef6c2037b49e1776776486000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:处理合并冲突 2026-04-21 21:01:26 +0800e1ea7d61508080e52f9048605a18ef6c2037b49efeat_out:处理合并冲突editpnc_debug_msgs/msg/ObserverDebug.msgalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txt0bf8bca044aa2d9364b02efff468438ff651c1c21779358531000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 18:15:31 +08000bf8bca044aa2d9364b02efff468438ff651c1c2添加新消息——跨运车z向抱夹到位editalign_msgs/CMakeLists.txtaddalign_msgs/msg/TargetCarStatus.msgalign_msgs/msg/TargetCarStatus.msgalign_msgs/CMakeLists.txtb8f59b921d1a229a9a39dc06f08a35101d7102941779362634000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加新消息——跨运车z向抱夹到位 2026-05-21 19:23:54 +0800b8f59b921d1a229a9a39dc06f08a35101d710294添加新消息——跨运车z向抱夹到位editalign_msgs/CMakeLists.txtaddalign_msgs/msg/TargetCarStatus.msgcomm_msgs/msg/Traj.msgbcbc5de637a9a70f2d4a3f32247a71a67dbfd4a01779678432000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 手动rebase交通管制v2 msg变更 2026-05-25 11:07:12 +0800bcbc5de637a9a70f2d4a3f32247a71a67dbfd4a0feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgcomm_msgs/msg/Traj.msg549daf0fc4e7c8f469ba1807acf334525ddb939b1779697241000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-05-25 16:20:41 +0800549daf0fc4e7c8f469ba1807acf334525ddb939bfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgtos_msgs/msg/PeripheralCmd.msgtmp/aha/dconf/user.marscode/deviceInfo.jsond2d1816d65aec8f872cc6f61052bdcb8c64e73e51780365770000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加吉利锁具控制 2026-06-02 10:02:50 +0800d2d1816d65aec8f872cc6f61052bdcb8c64e73e5feat_out:增加吉利锁具控制addtmp/aha/dconf/useredittos_msgs/msg/PeripheralCmd.msgadd.marscode/deviceInfo.jsoncomm_msgs/msg/Traj.msg28d550621b9b5b7a5c1e61e58845772ff4c1525c1780369194000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: 手动rebase交通管制v2 msg变更 2026-06-02 10:59:54 +080028d550621b9b5b7a5c1e61e58845772ff4c1525cfeat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgperipheral_msgs/msg/PeripheralOperateState.msgtos_msgs/msg/PeripheralCmd.msg7d1f2976915d6191037ca802663b6fcf5c9528671780392251000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:新增吉利锁具控制 2026-06-02 17:24:11 +08007d1f2976915d6191037ca802663b6fcf5c952867feat_out:新增吉利锁具控制editperipheral_msgs/msg/PeripheralOperateState.msgedittos_msgs/msg/PeripheralCmd.msgcomm_msgs/msg/Traj.msgeadbbf60c2f42f9cc816ea239eb5310f19bef0581780457575000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 手动rebase交通管制v2 msg变更 2026-06-03 11:32:55 +0800eadbbf60c2f42f9cc816ea239eb5310f19bef058feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txt876f0ac7f688fcb989d1343dc7bfac606a98615e1781229500000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-12 09:58:20 +0800876f0ac7f688fcb989d1343dc7bfac606a98615efeat: 添加ParallelObstacle和ParallelObstacleReport消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msgalign_msgs/msg/TargetCarStatus.msg4a63c7fafd07ee96114547c4152c16c5b153898f1781236330000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加载物状态及其枚举值&&车型错误标志 2026-06-12 11:52:10 +08004a63c7fafd07ee96114547c4152c16c5b153898f添加载物状态及其枚举值&&车型错误标志editalign_msgs/msg/TargetCarStatus.msgalign_msgs/msg/TargetCarStatus.msgdbde87dac06d38fa0c632d2b48b972820d01c3f11781236908000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加载物状态及其枚举值&&车型错误标志 2026-06-12 12:01:48 +0800dbde87dac06d38fa0c632d2b48b972820d01c3f1添加载物状态及其枚举值&&车型错误标志editalign_msgs/msg/TargetCarStatus.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txt69d9a06f8c7221ce10c5d955a81fc9684aa206c31781582423000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-16 12:00:23 +080069d9a06f8c7221ce10c5d955a81fc9684aa206c3feat: 添加ParallelObstacle和ParallelObstacleReport消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txt7d57dd6412d4746df29e6b22eeda874d2244b0cd1781582456000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-16 12:00:56 +08007d57dd6412d4746df29e6b22eeda874d2244b0cdfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msgeditguardian_msgs/CMakeLists.txtguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txt1f1b50411fbad43ef0d16e173acf889b3a4138541781582488000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-16 12:01:28 +08001f1b50411fbad43ef0d16e173acf889b3a413854feat: 添加ParallelObstacle和ParallelObstacleReport消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msgcomm_msgs/msg/Traj.msgdb51c891fddcf73babce98115f7526d2860bd6c41781700918000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: 手动rebase交通管制v2 msg变更 2026-06-17 20:55:18 +0800db51c891fddcf73babce98115f7526d2860bd6c4feat: 手动rebase交通管制v2 msg变更editcomm_msgs/msg/Traj.msgads_msgs/msg/Target.msg063d531a478250750e71384bff10ecd00da9d00f1782287750000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加货物分段长度字段和逃逸场景类型 2026-06-24 15:55:50 +0800063d531a478250750e71384bff10ecd00da9d00ffeat: 添加货物分段长度字段和逃逸场景类型editads_msgs/msg/Target.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txtcbe2305d5c6c686eaa127b2cc0d59df5b5bca47d1782370275000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-06-25 14:51:15 +0800cbe2305d5c6c686eaa127b2cc0d59df5b5bca47dfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义addguardian_msgs/msg/ParallelObstacleReport.msgaddguardian_msgs/msg/ParallelObstacle.msgeditguardian_msgs/CMakeLists.txtalign_msgs/msg/TargetCarStatus.msg87e2add8eda2f4683844d03b1c06fbef5e37a29f1782443028000http://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjingliuwenjing@senior.auto添加车型匹配bool字段 2026-06-26 11:03:48 +080087e2add8eda2f4683844d03b1c06fbef5e37a29f添加车型匹配bool字段editalign_msgs/msg/TargetCarStatus.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/CMakeLists.txt5f922b46649cf7a0c2cee7b9a0d984783d85d8bd1783995897000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat: 添加ParallelObstacle和ParallelObstacleReport消息定义 2026-07-14 10:24:57 +08005f922b46649cf7a0c2cee7b9a0d984783d85d8bdfeat: 添加ParallelObstacle和ParallelObstacleReport消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacleReport.msgaddguardian_msgs/msg/ParallelObstacle.msgtos_msgs/msg/PeripheralCmd.msg8e532984adc69ef005594c83d7c6f854a2b3f81f1785221911000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:外设命令扩充(需重编外设及rmi) 2026-07-28 14:58:31 +08008e532984adc69ef005594c83d7c6f854a2b3f81ffeat_out:外设命令扩充(需重编外设及rmi)edittos_msgs/msg/PeripheralCmd.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/RecordTransferCmd.msgcloud_msgs/msg/RecordTransferResult.msgef9d21eadee240c142d548947416629414d4114c1785304077000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加全量上传topic 2026-07-29 13:47:57 +0800ef9d21eadee240c142d548947416629414d4114cfeat_out:增加全量上传topicaddcloud_msgs/msg/RecordTransferCmd.msgaddcloud_msgs/msg/RecordTransferResult.msgeditcloud_msgs/CMakeLists.txtguardian_msgs/msg/ParallelObstacle.msgguardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/CMakeLists.txt131c24914532ae4544f15356277ded02eae7a2781785305187000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加消息定义 2026-07-29 14:06:27 +0800131c24914532ae4544f15356277ded02eae7a278feat_out:增加消息定义editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msgtos_msgs/msg/PncConfiguration.msgtos_msgs/CMakeLists.txttos_msgs/msg/AccessLine.msg2b2e142c9000d957df8a263160e270ba2067121d1785305640000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 2026-07-29 14:14:00 +08002b2e142c9000d957df8a263160e270ba2067121dtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义edittos_msgs/msg/PncConfiguration.msgaddtos_msgs/msg/AccessLine.msgedittos_msgs/CMakeLists.txttos_msgs/msg/AccessLine.msg84aa508cf8dfb205824c68f43f042c02060f8b1f1785305647000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard 2026-07-29 14:14:07 +080084aa508cf8dfb205824c68f43f042c02060f8b1ftos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/RecordTransferResult.msgcloud_msgs/msg/RecordTransferCmd.msge790c0b6dcc52be0d9a822c43d5879a8dca339981785310003000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加全量上传topic 2026-07-29 15:26:43 +0800e790c0b6dcc52be0d9a822c43d5879a8dca33998feat_out:增加全量上传topiceditcloud_msgs/CMakeLists.txtaddcloud_msgs/msg/RecordTransferResult.msgaddcloud_msgs/msg/RecordTransferCmd.msgtos_msgs/msg/PeripheralCmd.msga6df58e6f3c8f8eec3742ca3a2c67961dc5f19701785326522000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修改东方特钢上装控制枚举 2026-07-29 20:02:02 +0800a6df58e6f3c8f8eec3742ca3a2c67961dc5f1970feat_out:修改东方特钢上装控制枚举edittos_msgs/msg/PeripheralCmd.msgtos_msgs/msg/PeripheralCmd.msg06f294f224285acf804864bb9051f5783414c1621785722944000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:修改东方特钢上装控制枚举 2026-08-03 10:09:04 +080006f294f224285acf804864bb9051f5783414c162feat_out:修改东方特钢上装控制枚举edittos_msgs/msg/PeripheralCmd.msgtos_msgs/msg/PeripheralCmd.msgb4ee0c968a0483aafa6dbba7c2b4d24a28eca71f1785754349000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:合并外设消息 2026-08-03 18:52:29 +0800b4ee0c968a0483aafa6dbba7c2b4d24a28eca71ffeat_out:合并外设消息edittos_msgs/msg/PeripheralCmd.msgperipheral_msgs/msg/PeripheralOperateStates.msgef8f093ceff58fa2b79d1a3667d0a4f34f3e28a31785902515000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加反馈pd类型 2026-08-05 12:01:55 +0800ef8f093ceff58fa2b79d1a3667d0a4f34f3e28a3feat_out:增加反馈pd类型editperipheral_msgs/msg/PeripheralOperateStates.msgcloud_msgs/CMakeLists.txtcloud_msgs/msg/RecordTransferResult.msgcloud_msgs/msg/RecordTransferCmd.msg303eb68645d43fc7e1695415feada4be3a0feb4b1785917135000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加全量上传topic 2026-08-05 16:05:35 +0800303eb68645d43fc7e1695415feada4be3a0feb4bfeat_out:增加全量上传topicaddcloud_msgs/msg/RecordTransferResult.msgaddcloud_msgs/msg/RecordTransferCmd.msgeditcloud_msgs/CMakeLists.txtperipheral_msgs/msg/PeripheralOperateState.msgcloud_msgs/msg/LedMsg.msg5b63832064422758474bde74403392be05d8884d1786068471000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:反馈字段完善 2026-08-07 10:07:51 +08005b63832064422758474bde74403392be05d8884dfeat_out:反馈字段完善editcloud_msgs/msg/LedMsg.msgeditperipheral_msgs/msg/PeripheralOperateState.msgperipheral_msgs/msg/PeripheralOperateStates.msgbd4531ee12d21ff202fbf4e7bacaa08e5eb98b0b1786103564000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加反馈pd类型 2026-08-07 19:52:44 +0800bd4531ee12d21ff202fbf4e7bacaa08e5eb98b0bfeat_out:增加反馈pd类型editperipheral_msgs/msg/PeripheralOperateStates.msgperipheral_msgs/msg/PeripheralOperateState.msgcloud_msgs/msg/LedMsg.msgcf8ef577bbb6bbf96346211bd8eb73585760ad5a1786103693000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:反馈字段完善 2026-08-07 19:54:53 +0800cf8ef577bbb6bbf96346211bd8eb73585760ad5afeat_out:反馈字段完善editperipheral_msgs/msg/PeripheralOperateState.msgeditcloud_msgs/msg/LedMsg.msgtos_msgs/msg/PeripheralCmd.msg5052114869f5d8c0300c8a9a408ae1dc1ec79def1786362035000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:字段修改 2026-08-10 19:40:35 +08005052114869f5d8c0300c8a9a408ae1dc1ec79deffeat_out:字段修改edittos_msgs/msg/PeripheralCmd.msgtos_msgs/msg/PeripheralCmd.msgadeecd3038f4c7414651bda89bcee43953e37fe91786432692000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:增加6档反馈 2026-08-11 15:18:12 +0800adeecd3038f4c7414651bda89bcee43953e37fe9feat_out:增加6档反馈edittos_msgs/msg/PeripheralCmd.msgtos_msgs/msg/PncConfiguration.msgtos_msgs/CMakeLists.txttos_msgs/msg/AccessLine.msg81d4f7a849ff697cc58957c3d6260c82de350c2e1786606338000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 2026-08-13 15:32:18 +080081d4f7a849ff697cc58957c3d6260c82de350c2etos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义edittos_msgs/msg/PncConfiguration.msgedittos_msgs/CMakeLists.txtaddtos_msgs/msg/AccessLine.msgtos_msgs/msg/AccessLine.msgce4f0766aace66814f2a5f8025e07a3715a56c541786606344000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtos_msgs: AccessLine 字段 yard_id 重命名为 yard 2026-08-13 15:32:24 +0800ce4f0766aace66814f2a5f8025e07a3715a56c54tos_msgs: AccessLine 字段 yard_id 重命名为 yardedittos_msgs/msg/AccessLine.msg.marscode/deviceInfo.json6249c01a43853ec0de531ca7b7285db7f8ef42641787019076000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autofeat_out:删除.marscode 2026-08-18 10:11:16 +08006249c01a43853ec0de531ca7b7285db7f8ef4264feat_out:删除.marscodedelete.marscode/deviceInfo.jsonperipheral_msgs/msg/PeripheralOperateState.msgcloud_msgs/msg/LedMsg.msgperipheral_msgs/msg/PeripheralOperateStates.msgtos_msgs/msg/PeripheralCmd.msg79e9ee25b4ab79077fc9216ed01c5b80ecee14ee1787038195000http://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2zhaojianfeng2@senior.autoMerge peripheral shared_msgs updates into rc_dev_weiqiao 2026-08-18 15:29:55 +080079e9ee25b4ab79077fc9216ed01c5b80ecee14eeMerge peripheral shared_msgs updates into rc_dev_weiqiaoedittos_msgs/msg/PeripheralCmd.msgeditcloud_msgs/msg/LedMsg.msgeditperipheral_msgs/msg/PeripheralOperateState.msgeditperipheral_msgs/msg/PeripheralOperateStates.msggittasks/plan/keb_utils.cpp7af601b341265bf2eea8bdd421b66d1cd768ec9c1787218672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb正确返回theta值 2026-08-20 17:37:52 +08007af601b341265bf2eea8bdd421b66d1cd768ec9cfeat: keb正确返回theta值edittasks/plan/keb_utils.cppssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hppoffboard/bag_to_keb_scene/bag_to_keb_scene.cctasks/plan/keb_path_optimize_task.cppreplayer/replayer_data_process/replayer_data_extraction.cppssep/protos/path.protodata/plan/start_point_data.hppcommon/log/log_config.cppdata/plan/start_point_data.cpptasks/plan/keb_utils.cpptasks/plan/keb_utils.hppcommon/log/log_config.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.cc01d91db117eb92069cdd33846ea3c62e855b54901787657498000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV KEB 起步曲率问题修复与日志跨天切换 2026-08-25 19:31:38 +080001d91db117eb92069cdd33846ea3c62e855b5490feat: IMV KEB 起步曲率问题修复与日志跨天切换editcommon/log/log_config.cppeditdata/plan/start_point_data.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditoffboard/keb_path_opt_cli/keb_simulator.ccedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/data_structures/path.cceditcommon/log/log_config.hppedittasks/plan/keb_path_optimize_task.cppeditdata/plan/start_point_data.hppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.hppeditssep/protos/path.protoeditproto/keb_scene.protodata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hppdata/constrain/disable_stop_range.cpp64a4d38d2d461236fa08ac164fa8a4faa7aa7c0f1787729289000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加普通路口停车功能开关新增 use_func_normal_junction_park 配置，默认保持开启。关闭时跳过普通横纵道路口的阻塞停车范围，不影响堆场、桥区和码头面专用开关。 2026-08-26 15:28:09 +080064a4d38d2d461236fa08ac164fa8a4faa7aa7c0ffeat: 增加普通路口停车功能开关editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppeditdata/constrain/disable_stop_range.cppdata/config/cfg_lat_plan.hppconfig/config_imv/plan.yamldata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp381dba9bc8b84e4946dcaad7e5a258258588008a1787729761000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持大半径弯道主动超车基于完整 bend 区间的最大绝对曲率判断超车准入，普通路口、区间覆盖不完整及无效地图数据继续保守禁止。新增最小弯道半径配置及序列化版本，并补充半径边界、非法输入和区间覆盖回归测试。 2026-08-26 15:36:01 +0800381dba9bc8b84e4946dcaad7e5a258258588008afeat: 支持大半径弯道主动超车editdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision_test.cppeditconfig/config_imv/plan.yamleditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppssep/data_structures/ssep_input.hppssep/offboard/ssep_planner_wrapper.ccssep/data_structures/ssep_input.ccdata/ssep/ssep_activation.cppssep/protos/scene.proto9b2da02f207417d7afef10597db8eabe3d5c6fe21787757535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善SSEP图景重规划回放在图景协议中保存重规划状态和上一帧路径，并在离线回放时恢复对应上下文。统一保存平滑路径的前进后退方向，避免多段路径在图景中被误判为未平滑。 2026-08-26 23:18:55 +08009b2da02f207417d7afef10597db8eabe3d5c6fe2feat: 完善SSEP图景重规划回放editssep/offboard/ssep_planner_wrapper.cceditssep/data_structures/ssep_input.hppeditssep/data_structures/ssep_input.cceditssep/protos/scene.protoeditdata/ssep/ssep_activation.cppssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.cc8bc7aba849ad45c43f3ab30abc1246727c2f979a1787757548000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强SSEP图景可视化增加场景摘要、搜索与车辆参数侧栏，并同时展示当前路径和上一帧路径。完善任意目录导航及路径转义，避免特殊文件名破坏页面内容。 2026-08-26 23:19:08 +08008bc7aba849ad45c43f3ab30abc1246727c2f979afeat: 增强SSEP图景可视化editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_server.ccssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cpptasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccec78fbb6be550122d6fff2557f734722f067b9611787757566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强振石IMV多段搜索能力修正IMV指令重规划的途经点和末段方向判断，末段重搜索可取消无效途经点。为IMV多段泊车增加斜行兜底及可配置末端方向，并仅在振石BulkOut启用General双向搜索、安全裕度和起点约束取消。 2026-08-26 23:19:26 +0800ec78fbb6be550122d6fff2557f734722f067b961feat: 增强振石IMV多段搜索能力editssep/scenarios/imv_enter_station_planner.heditdata/ssep/forward_ec.cppeditssep/scenarios/imv_general_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/imv_multi_segment_parking_planner.heditdata/ssep/ssep_ec.cppeditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/scenario_planner_factory.hedittasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/collision_cost_computer.hd2e4daf5f126db4bb15afa6f36acef79498be3a91787757580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复SSEP碰撞忽略区边界误判为车体和拖挂碰撞忽略区增加微小距离容差，吸收UTM大坐标累计距离的浮点误差。保持原有忽略距离语义，超过容差后仍执行硬碰撞检查。 2026-08-26 23:19:40 +0800d2e4daf5f126db4bb15afa6f36acef79498be3a9fix: 修复SSEP碰撞忽略区边界误判editssep/coarse_search/evaluator/trailer_collision_cost_computer.heditssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.hdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp660f5d6b0ad7055ce80811a571d7f04a7928b0011787757596000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出堆场分段选择横向规划器新增出堆场非末段条件，使任务选择器能够在中间段使用PJPO，并为末段保留默认KEB。 2026-08-26 23:19:56 +0800660f5d6b0ad7055ce80811a571d7f04a7928b001feat: 支持出堆场分段选择横向规划器editscenarios/task_condition_evaluator.hppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppeditscenarios/task_condition_evaluator.cppssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/test/local_regression/.gitignoressep/test/local_regression/run_ssep_regression.pyssep/offboard/scene_replay/replay_scene_frame_cli.ccssep/test/local_regression/imv_multisegment_manifest.tsvssep/offboard/scene_replay/README.md6f19ee67eb3cd8502143874661f896dece0cfa461787757611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 建立SSEP本地自动化回归集新增六个IMV多段历史场景清单和一键回放脚本，校验规划状态、场景类型及路径段数。回放工具支持规划失败返回非零退出码，并补充重规划上下文、基元类型和碰撞边界单测。 2026-08-26 23:20:11 +08006f19ee67eb3cd8502143874661f896dece0cfa46test: 建立SSEP本地自动化回归集editssep/offboard/scene_replay/replay_scene_frame_cli.ccaddssep/test/local_regression/.gitignoreeditssep/test/ssep_planner_test.ccaddssep/test/local_regression/imv_multisegment_manifest.tsvaddssep/test/local_regression/run_ssep_regression.pyeditssep/offboard/scene_replay/README.mdaddssep/test/local_regression/README.mddata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp689d0c916f5f68860188f267dc1626de8cd8776b1787800892000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 NO-SHIFT 末端走廊边界污染首次进入 NO-SHIFT 后截断道路墙折线，避免末端转弯道路墙通过全局 SDF 反向切入 DP gap。贴 shift 的几何端点仅采信近距离真实占用，防止远处点云接管来源并触发额外内缩；补充过渡生命周期和来源回标回归测试。 2026-08-27 11:21:32 +0800689d0c916f5f68860188f267dc1626de8cd8776bfix: 修复 NO-SHIFT 末端走廊边界污染editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppdata/other/flow_control_test.cppdata/map/pnc_map/path_overlap.hppdata/other/flow_control.cppdata/plan/guide_line.cppdata/constrain/longitude_constrain.cppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/other/flow_control.hppdata/config/cfg_func_sw.cppCMakeLists.txtdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_long_plan.cppdata/config/cfg_safe_const.cppdata/plan/guide_line_base.hpp1c3a8293db4bd0936fd728ba20b3c8b2161dbdb21787808674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持闸口精确限速与动态跟车接入 REGION_GATE 地图区间并按距闸口距离反推当前限速。\n在闸口控制区内按实车速度平滑缩短跟车距离，车头越过闸口后解除控制。\n增加新旧功能独立开关、配置快照兼容以及双向区间和限速回归测试。 2026-08-27 13:31:14 +08001c3a8293db4bd0936fd728ba20b3c8b2161dbdb2feat: 支持闸口精确限速与动态跟车editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.hppeditdata/map/pnc_map/pnc_map_path.cppeditdata/plan/guide_line_base.hppeditconfig/config_imv/plan.yamleditdata/other/flow_control.hppedittasks/deciders/long_decider/constrain_decider.cppeditCMakeLists.txtadddata/other/flow_control_test.cppeditdata/plan/guide_line.cppeditdata/config/cfg_safe_const.cppeditdata/map/pnc_map/path_overlap.hppeditdata/constrain/longitude_constrain.cppeditdata/config/cfg_long_plan.cppeditdata/other/flow_control.cppdata/config/cfg_safe_const.hppdata/other/flow_control_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppae89670c40080961c7392a34f56c53e1027b92d01787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤闸口杆体绕行点云依据 REGION_GATE 构造横向走廊掩膜，过滤闸杆原始点云和静态簇凸包。\n保留纵向碰撞 OGM，使闸杆关闭时仍可停车，同时避免触发误绕行。 2026-08-27 13:43:33 +0800ae89670c40080961c7392a34f56c53e1027b92d0fix: 过滤闸口杆体绕行点云editdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hppeditdata/boundary/driving_corridor.cppeditdata/other/flow_control_test.cppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_func_sw.hppeditconfig/config_imv/plan.yamlhmi/draw/draw_guide_line.cpphmi/draw/draw_guide_line.hpp987b326a56d32d3f7ab0af28cc10b4f451ab38b71787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制引导线区域缩写沿引导线绘制 region overlap 区间、起止标记和类型缩写。\n使用简短标签区分限速、Guardian、贝位、短跟车和闸口区域，避免 HMI 过度拥挤。 2026-08-27 13:43:33 +0800987b326a56d32d3f7ab0af28cc10b4f451ab38b7feat: 绘制引导线区域缩写edithmi/draw/draw_guide_line.hppedithmi/draw/draw_guide_line.cppdata/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppd85195e6b752b3478cc152caf7570d1529fedf531787819595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加魏桥区域规划支持新增魏桥地理围栏及区域枚举，并使前向 SSEP 的朝向选择、起终点通道、途经点参考线和搜索途经点逻辑复用太阳纸业配置。 2026-08-27 16:33:15 +0800d85195e6b752b3478cc152caf7570d1529fedf53feat: 增加魏桥区域规划支持editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cppdata/plan/ssep_data.cppf3455f4399b88ef2873bcfd385bb9d6cbd1e10161787819606000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向停车后 SSEP 切段失败当车辆由当前分段换向线明确触发停车时，以约束来源、顺序索引和末点位置确认到达，不再因局部路径与原始 SSEP 的小幅航向偏差永久卡住；其他停车原因继续保留航向校验。 2026-08-27 16:33:26 +0800f3455f4399b88ef2873bcfd385bb9d6cbd1e1016fix: 修复换向停车后 SSEP 切段失败editdata/plan/ssep_data.cpptasks/deciders/lat_decider/path_bounds_decider.cpp2cf03c30441cb54f71063b8782eecf7b6e510b661787819619000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复倒车 OpenSpace 边界配置失效倒车 PJPO 在 OpenSpace 断面复用 RoadBoundary 的横向边界，使 open_space_bound_width 对正反向路径一致生效；RoadBoundary 不可用或非 OpenSpace 时保持通用倒车边界回退。 2026-08-27 16:33:39 +08002cf03c30441cb54f71063b8782eecf7b6e510b66fix: 修复倒车 OpenSpace 边界配置失效edittasks/deciders/lat_decider/path_bounds_decider.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp466e27ed4100e1dcc4d165e54c874a97b5677ad11787839774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加中铁联集区域规划支持新增中铁联集区域识别，并为 IMV 默认选择通用 SSEP 场景。调整进出场景的起终点直线延伸距离，以适配现场作业空间。 2026-08-27 22:09:34 +0800466e27ed4100e1dcc4d165e54c874a97b5677ad1feat: 增加中铁联集区域规划支持editdata/ssep/ssep_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/config/cfg_region.cppeditdata/ssep/into_yard_junction_ec.cpphmi/draw/draw_keb_debug.cpp30f09239c6141088c9e560d83e670118b0caf2cf1787839796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 KEB 调试界面误绘挂车绘制挂车包络前同时校验车型和挂车姿态有效性，避免 IMV 的占位航向被当作真实挂车姿态。 2026-08-27 22:09:56 +080030f09239c6141088c9e560d83e670118b0caf2cffix: 修复 KEB 调试界面误绘挂车edithmi/draw/draw_keb_debug.cppssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_general_planner.hssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.hppssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/ssep_planner.hssep/protos/scene.protossep/offboard/scene_replay/README.mdac005686e1bc1dc394ad76044a973a46ff77b5941787839855000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 SSEP 失败场景诊断场景文件新增粗搜索路径和规划失败原因，并在车端落盘与离线转存中保持一致。网页可视化展示失败详情和平滑前路径，同时重置跨帧规划结果以避免旧数据污染。 2026-08-27 22:10:55 +0800ac005686e1bc1dc394ad76044a973a46ff77b594feat: 完善 SSEP 失败场景诊断editdata/ssep/ssep_activation.hppeditssep/ssep_planner.heditdata/ssep/ssep_activation.cppeditssep/offboard/servers/scene_vis_html_template.cceditssep/scenarios/scenario_planner_interface.heditssep/offboard/ssep_planner_wrapper.cceditssep/offboard/scene_replay/README.mdeditssep/scenarios/imv_general_planner.heditssep/protos/scene.protoeditssep/ssep_planner.ccssep/test/ssep_planner_test.ccssep/scenarios/imv_general_planner.hssep/test/local_regression/imv_general_keb_manifest.tsvssep/test/local_regression/README.mdssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.ccc12c478083bb66cec5fae4cdb553c43ca8dbdaec1787839874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 斜行 KEB 运动学失配按路径速度方向补齐并对齐 beta/beta_dot 初值，提高 IMVGeneral 运动学权重，避免碰撞软代价将路径推成不可执行状态。补充正向、倒车斜行单测及两个现场场景的正式回归清单。 2026-08-27 22:11:14 +0800c12c478083bb66cec5fae4cdb553c43ca8dbdaecfix: 修复 IMV 斜行 KEB 运动学失配editssep/keb_optimizer/imv_keb_optimizer.ccaddssep/test/local_regression/imv_general_keb_manifest.tsveditssep/scenarios/imv_general_planner.heditssep/test/local_regression/README.mdeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/keb_problem.cceditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.htasks/deciders/other_decider/replan_decider.cpp0014947d31a6d5ab3d921b4fbdb4afb898be19c61787885522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制连续开放空间重规划触发范围仅允许已进入复用状态的 OpenSpace SSEP 触发连续开放空间重规划。\n避免出堆场 Forward SSEP 因终点相对待用参考线偏移而反复重搜索。 2026-08-28 10:52:02 +08000014947d31a6d5ab3d921b4fbdb4afb898be19c6fix: 限制连续开放空间重规划触发范围edittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_safe_const.cpp78050c310eba9d47334b0c9a0aab2f2c41f4bcb71787885610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前闸口控制介入距离将闸口控制默认起始距离由 10 米调整为 15 米，使车辆更早进入闸口控制范围。 2026-08-28 10:53:30 +080078050c310eba9d47334b0c9a0aab2f2c41f4bcb7fix: 提前闸口控制介入距离editdata/config/cfg_safe_const.cppdata/config/cfg_func_sw.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/config/cfg_func_sw.hpp95abd6611a10084bdd69c0224af7bb14018b14911787900280000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置堆高机靠近时的锁定时机新增 MOVE 阶段堆高机靠近切换 LOCK 的独立功能开关。关闭该开关后，车辆远离终点时保持 MOVE；接近终点进入 Align1st 后，仍可在堆高机靠近时切换 LOCK，并保持普通堆场任务原有行为。 2026-08-28 14:58:00 +080095abd6611a10084bdd69c0224af7bb14018b1491feat: 支持配置堆高机靠近时的锁定时机editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppTesting/routing_map_guard_test.cppdata/map/reference/reference_road_section.cppbe97bd11818392827b82fb21f3d9b753b9b137ec1787931778000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强参考道路段空数据防护在弯道黑名单判断前校验道路段和路口重叠信息，避免空容器或空指针访问。\n\n路口元数据缺失时按黑名单安全降级，并补充对应回归测试。 2026-08-28 23:42:58 +0800be97bd11818392827b82fb21f3d9b753b9b137ecfix: 增强参考道路段空数据防护editdata/map/reference/reference_road_section.cppeditTesting/routing_map_guard_test.cppssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hppssep/test/ssep_planner_test.ccssep/ssep_planner.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.protof21ee3c634f23a0acf6e7975861e786781cd71dd1787931801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 SSEP 历史路径热启动重规划新增 kPathWarmStart 输入状态，将历史路径裁剪到当前姿态后在最新环境约束下重新优化。\n\n补充目标一致性、姿态匹配、碰撞、自交和最短路径校验；热启动失败时回退完整搜索，并兼容离线场景协议。 2026-08-28 23:43:21 +0800f21ee3c634f23a0acf6e7975861e786781cd71ddfeat: 支持 SSEP 历史路径热启动重规划editssep/protos/scene.protoeditssep/ssep_planner.cceditssep/offboard/ssep_planner_wrapper.cceditssep/data_structures/ssep_input.hppeditssep/scenarios/stitching_replanner.heditssep/test/ssep_planner_test.ccdata/plan/ssep_data.cppdata/other/flow_control.cppdata/plan/ssep_data.hppdata/plan/guide_line.cppplan/prepare/prepare_status.cpptasks/plan/keb_path_optimize_task.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppdata/decide/decide_reaction.hppdata/other/flow_control.hpptasks/plan/ssep_task.cppdata/ssep/ssep_common.hpptasks/deciders/search_decider/forward_search_decider.cppscenarios/task_condition_evaluator.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/search_decider/ex_lane_change_search_decider.cpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpptasks/other_tasks/create_reference_line.cpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/plan/smooth_task.cppTesting/ssep_path_corridor_test.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_path_optimize_task.hpp8c40c03db463ae1c8a77fcb84bbcfa029c1baecf1787933565000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一重规划上下文与路径连续性集中管理重规划原因、搜索重启、历史路径 warm-start 和输出保持策略，SearchDecider 仅消费统一上下文。输出连续性统一由已生效 ReferenceLine 承担，SSEP 只保留原始搜索路径用于 warm-start；重搜期间 GuideLine 按正常模式重建，KEB 保持上一条成功输出且不切换 PJPO。人工重规划在 Junction 中复用历史搜索路径，ForwardSearch 重建多段拓扑时禁用 warm-start；补充低贝位稳定判断、同路口校验、快照恢复和回归测试。 2026-08-29 00:12:45 +08008c40c03db463ae1c8a77fcb84bbcfa029c1baecffix: 统一重规划上下文与路径连续性editdata/plan/guide_line.cppeditdata/ssep/reverse_ec.cppeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/open_space_search_decider.cppeditdata/other/flow_control.cppeditdata/ssep/ssep_ec.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppeditdata/decide/decide_reaction.hppeditdata/ssep/into_yard_junction_ec.cppedittasks/plan/keb_path_optimize_task.cppedittasks/deciders/search_decider/reverse_search_decider.cppedittasks/plan/keb_path_optimize_task.hppeditdata/plan/ssep_data.hppedittasks/deciders/search_decider/forward_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/other_tasks/create_reference_line.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/other/flow_control.hppedittasks/plan/ssep_task.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditscenarios/task_condition_evaluator.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/plan/smooth_task.cppeditdata/plan/ssep_data.cppeditdata/ssep/forward_ec.cppeditdata/ssep/ssep_common.hppeditTesting/ssep_path_corridor_test.cppreplayer/replayer_data_process/replayer_data_extraction.cpphmi/widget/diagnose.cpp6d37803e28c9fbd14955f9a37cbc03728f9863dc1787933571000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善重规划诊断与回放标记 HMI 在重搜全过程显示持久化触发原因，并区分人工触发、低贝位、路径换向等类型。\n\n回放导出统一识别跨帧重搜状态，避免命令脉冲结束后错误记录为正常 KEB 优化。 2026-08-29 00:12:51 +08006d37803e28c9fbd14955f9a37cbc03728f9863dcfeat: 完善重规划诊断与回放标记editreplayer/replayer_data_process/replayer_data_extraction.cppedithmi/widget/diagnose.cppTesting/routing_map_guard_test.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan/guide_line.cpptasks/deciders/long_decider/constrain_decider.hpp9f8dc40070d828bd0a70c2153605c7871ece79d11788059609000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止空导引线限速触发规划崩溃在云端限速生成前校验导引线、车辆投影和限速数据，失效时生成无轨迹停止约束并记录限频诊断。将空限速查询改为返回结束哨兵，并补充 Reset、持续失效和正常恢复的回归测试。 2026-08-30 11:13:29 +08009f8dc40070d828bd0a70c2153605c7871ece79d1fix: 防止空导引线限速触发规划崩溃edittasks/deciders/long_decider/constrain_decider.hppeditTesting/routing_map_guard_test.cppeditdata/plan/guide_line.cppedittasks/deciders/long_decider/constrain_decider.cppdata/vehicle/request_routing_data.cppf8959654beb436a77bfa6aa19eb31c069be6f1781788144788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缓冲区近终点跳过地图连续性检查缓冲区任务接近地图终点时，不再对新 routing 执行路径连续性校验，避免终点附近因路径切换产生 routing 冲突。同时整理相关日志语句格式。 2026-08-31 10:53:08 +0800f8959654beb436a77bfa6aa19eb31c069be6f178fix: 缓冲区近终点跳过地图连续性检查editdata/vehicle/request_routing_data.cppdata/plan/switch_data.hppdata/constrain/block_data.cpphmi/draw/draw_perception.cppdata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hpptasks/deciders/lat_decider/lane_change_decider.cppdata/config/cfg_func_sw.cppdata/obstacle/cluster_lane_change_safety.hppCMakeLists.txtdata/config/cfg_safe_const.hppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppdata/obstacle/cluster_lane_change_safety_test.cppdata/config/cfg_safe_const.cppdata/obstacle/cluster_motion_tracker.cppdata/constrain/temporary_stop_data.cppdata/obstacle/cluster_motion_tracker.hppdata/constrain/block_data.hpp81d6110f2d40700f8c92d756b96e818bedc622b51788184469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加聚类障碍物变道安全防护建立普通目标与多聚类片段之间的稳定实体关联，使用跟踪速度和分段 capsule 评估变道路径风险，覆盖目标 ID 切换和重复分裂场景。变道准备阶段严格检查运动与未知聚类，SWITCHING 仅检查确认运动聚类，并在变道早期发现风险时于车头前生成不可跳过的立即停车线；静态聚类继续由 OGM 防护。增加默认开启的功能开关、安全参数、耗时诊断及生命周期回归测试。 2026-08-31 21:54:29 +080081d6110f2d40700f8c92d756b96e818bedc622b5feat: 增加聚类障碍物变道安全防护editdata/constrain/block_data.cppeditdata/obstacle/cluster_motion_tracker.hppeditdata/constrain/block_data.hppadddata/obstacle/cluster_lane_change_safety_test.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_func_sw.hppadddata/obstacle/cluster_lane_change_safety.hppeditdata/config/cfg_safe_const.cppeditCMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/constrain/disable_stop_range.cppeditdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/constrain/temporary_stop_data.cppedithmi/draw/draw_perception.cppeditdata/constrain/disable_stop_range.hppeditdata/plan/switch_data.hppeditdata/obstacle/cluster_motion_tracker.cppedittasks/deciders/lat_decider/lane_change_decider.cppadddata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.hpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamlconfig/config_car/plan.yamlconfig/config_truck/config_truck_reverse/plan.yamldata/config/cfg_lat_decide.hppc4928beb1edd413168b66b616293e4c04ada67f71788218976000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化普通路口变道衔接使用普通变道专用限速并补齐配置快照兼容。\n在正式进入变道时固化边界锚点，准备阶段保持边界滚动更新。\n结合状态等待、变道距离和稳定余量提前发起普通路口变道。 2026-09-01 07:29:36 +0800c4928beb1edd413168b66b616293e4c04ada67f7fix: 优化普通路口变道衔接editconfig/config_car/plan.yamleditconfig/config_truck/config_truck_reverse/plan.yamleditdata/config/cfg_lat_decide.cppeditdata/plan/switch_data.hppeditconfig/config_imv/plan.yamledittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/config/cfg_safe_const.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditconfig/config_truck/plan.yamleditdata/plan/switch_data.cppeditdata/config/cfg_lat_decide.hppeditdata/config/cfg_safe_const.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/obstacle/cluster_lane_change_safety_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp8cc04ff95d5399ab335829c6cdffc5cd223f45ec1788219001000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 搜索临停轨迹就绪后恢复行驶等待搜索进入 MOVE_BRAKE 或 MOVE_NSTOP 时，在搜索轨迹可复用且不存在其他制动约束后直接恢复 MOVE_NORMAL。\n避免车辆已经具备可行路径后仍刹停并再次起步。 2026-09-01 07:30:01 +08008cc04ff95d5399ab335829c6cdffc5cd223f45ecfix: 搜索临停轨迹就绪后恢复行驶editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cpp56620ce6e9f42170bb070ca9004a64ab8369d3161788219103000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离不同车型的变道锚点维护仅 Truck 的 PJPO 变道在进入 SWITCHING 时刷新通用几何锚点。\nIMV 继续由 LANE_CHANGE_PATH_TASK_V2 维护生成路径及对应起终点，避免锚点与实际路径不一致。 2026-09-01 07:31:43 +080056620ce6e9f42170bb070ca9004a64ab8369d316fix: 隔离不同车型的变道锚点维护editdata/plan/switch_data.cppdata/ssep/seaside_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cpp70c9f125409fc590ff6eb857b6b2823cdafe07c81788225213000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索终点参考线将普通路口、引桥、码头面和出堆场搜索的终点计算、裁剪回退及搜索参考位姿统一到原始参考线坐标域。避免 fallback 重构时将原始停止线 s 用到滚动平滑参考线上，导致搜索终点沿路线回退；同时修复出堆场跨路口终点局部变量遮蔽成员的问题。 2026-09-01 09:13:33 +080070c9f125409fc590ff6eb857b6b2823cdafe07c8fix: 统一路口搜索终点参考线editdata/ssep/seaside_junction_ec.cppeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/normal_junction_ec.cppdata/config/cfg_env_const.hppdata/ssep/forward_ec.cpptasks/deciders/long_decider/constrain_decider.hppdata/config/cfg_env_const.cppssep/scenarios/scenario_planner_factory.htasks/deciders/long_decider/constrain_decider.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hpphmi/draw/draw_map.hppplan/prepare/prepare_objs.cppdata/plan_frame.hpphmi/draw/draw_map.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan_frame.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h895bced1d9a7d226c22028a18cd867a7513475231788239920000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add trailer parking safety handling 2026-09-01 13:18:40 +0800895bced1d9a7d226c22028a18cd867a751347523feat: add trailer parking safety handlingedithmi/draw/draw_map.hppeditdata/plan_frame.hppeditssep/scenarios/tractor_trailer_single_segment_parking_planner.hedittasks/deciders/long_decider/constrain_decider.hppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditdata/config/cfg_env_const.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditdata/config/cfg_env_const.hppeditplan/prepare/prepare_objs.cppeditssep/scenarios/scenario_planner_factory.heditdata/plan_frame.cppadddata/ssep/trailer_parking_safety.cppeditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hedittasks/deciders/long_decider/constrain_decider.cppeditdata/ssep/forward_ec.cppadddata/ssep/trailer_parking_safety.hppedithmi/draw/draw_map.cpptasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.cctasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppoffboard/bag_to_keb_scene/bag_to_keb_scene.cctasks/plan/keb_utils_core.cppdata/config/cfg_lat_plan.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protossep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/keb_visualize_data.hpptasks/plan/keb_utils.cppoffboard/keb_path_opt_cli/keb_scene_converter.hpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_lane_follow_path_task.hppc3f9f84f2e4b1b2b249d71f9ea5909012143a4aa1788244560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 KEB roadside 分层规划将 roadside 与普通 underlying OGM 分层建图并使用独立安全阈值，覆盖 IMV、刚性卡车以及牵引车和挂车包络。完善堆场边界不扩展、LaneFollow 异步路径复用、PathOptimize warm-start 状态拆分、KebScene presence 兼容及 replayer 输入重建。 2026-09-01 14:36:00 +0800c3f9f84f2e4b1b2b249d71f9ea5909012143a4aafeat: 支持 KEB roadside 分层规划editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditreplayer/replayer_data_process/replayer_data_process.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.ccedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditalgorithm/plan/keb_optimizer.cppeditdata/plan/keb_visualize_data.hppeditproto/keb_scene.protoedittasks/plan/keb_lane_follow_path_task.hppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_utils.hppeditssep/keb_optimizer/imv_keb_optimizer.hedittasks/plan/keb_utils_core.cppeditdata/config/cfg_lat_plan.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.hedittasks/plan/keb_utils_core.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditdata/config/cfg_lat_plan.hppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditoffboard/keb_path_opt_cli/keb_scene_converter.hpphmi/widget/diagnose.cppoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_vis_server/foxglove/keb_to_mcap.pyhmi/draw/draw_perception.cppoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccoffboard/keb_vis_server/keb_vis_html_template.cce6c0f326747db692ee5e7fa3d2106806d0032dad1788244592000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 KEB roadside 分类可视化在 HMI、Diagnose、Web Viewer、CLI debug viewer 和 Foxglove 中独立显示 roadside 层及其开关、阈值和最小间距。同时修复 Foxglove Python proto 的生成目录层级。 2026-09-01 14:36:32 +0800e6c0f326747db692ee5e7fa3d2106806d0032dadfeat: 完善 KEB roadside 分类可视化edithmi/draw/draw_perception.cppeditoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditoffboard/keb_vis_server/keb_vis_html_template.cceditoffboard/keb_vis_server/foxglove/generate_protos.shedithmi/widget/diagnose.cppeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyoffboard/keb_path_opt_cli/local_regression/.gitignoreoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvac589114078e8b4a587a8c651575f6d4c15698d01788244621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 KEB 本地自动回归集新增清单驱动的 KebScene 多帧回归入口，校验帧数、成功率、超时和耗时阈值，并支持标签筛选与结果留存。加入 CAR LaneFollow 和 TT PathOptimize 两条共享盘基础基线，回归时关闭 MCAP 转换。 2026-09-01 14:37:01 +0800ac589114078e8b4a587a8c651575f6d4c15698d0test: 增加 KEB 本地自动回归集addoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyeditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccaddoffboard/keb_path_opt_cli/local_regression/.gitignoreaddoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvoffboard/keb_path_opt_cli/local_regression/README.mdoffboard/bag_to_keb_scene/README.mdoffboard/keb_vis_server/foxglove/README.mdoffboard/keb_path_opt_cli/README.mdb1a5d601247c5b4373964b25df574fc7f7977caf1788244650000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 完善 KEB 工具与回归说明补充 KEB CLI 模式、roadside 字段语义、分类可视化、共享盘数据布局、回归准入规则和 bag 提取流程。 2026-09-01 14:37:30 +0800b1a5d601247c5b4373964b25df574fc7f7977cafdocs: 完善 KEB 工具与回归说明addoffboard/keb_path_opt_cli/README.mdaddoffboard/keb_path_opt_cli/local_regression/README.mdeditoffboard/bag_to_keb_scene/README.mdeditoffboard/keb_vis_server/foxglove/README.mddata/config/cfg_env_const.hppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppsource/ros_source_pnc_config.cppdata/vehicle/deviation_status.cpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/deviation_status.hppplan/prepare/prepare_objs.cppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppfd54aef6acdae9d1a84ed9061356839eccb1aefe1788252359000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add neighboring trailer parking safety 2026-09-01 16:45:59 +0800fd54aef6acdae9d1a84ed9061356839eccb1aefefeat: add neighboring trailer parking safetyeditdata/vehicle/deviation_status.cppedithmi/draw/draw_map.cppeditdata/config/cfg_env_const.cppedittasks/deciders/long_decider/constrain_decider.hppeditdata/ssep/trailer_parking_safety.cppeditdata/vehicle/deviation_status.hppeditplan/prepare/prepare_objs.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/ssep/trailer_parking_safety.hppeditdata/config/cfg_env_const.hppeditsource/ros_source_pnc_config.cppplan/prepare/prepare_objs.cppdata/config/cfg_env_const.cppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppdata/vehicle/deviation_status.cpp94ffbf00eb129024e61cd60d18f77fd5b17b2f2c1788254665000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: measure trailer clearance from tail edge 2026-09-01 17:24:25 +080094ffbf00eb129024e61cd60d18f77fd5b17b2f2cfix: measure trailer clearance from tail edgeeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppeditdata/ssep/trailer_parking_safety.hppeditplan/prepare/prepare_objs.cppplan/prepare/prepare_objs.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppdata/ssep/trailer_parking_safety.cppsource/ros_source_pnc_config.cppdata/vehicle/deviation_status.cpp41ef3c8c74dec38773d0ca683693edb4d9f0cea31788255261000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: remove trailer parking debug logs 2026-09-01 17:34:21 +080041ef3c8c74dec38773d0ca683693edb4d9f0cea3chore: remove trailer parking debug logseditdata/vehicle/deviation_status.cppedithmi/draw/draw_map.cppeditplan/prepare/prepare_objs.cppeditsource/ros_source_pnc_config.cppeditdata/ssep/trailer_parking_safety.cppedittasks/deciders/long_decider/constrain_decider.cppssep/maps/ogm_builder.cc3a2d564af690d2f898a6834d2193f15ca4a181021788259895000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: clear real obstacles near SSEP endpoints 2026-09-01 18:51:35 +08003a2d564af690d2f898a6834d2193f15ca4a18102fix: clear real obstacles near SSEP endpointseditssep/maps/ogm_builder.cctasks/plan/path_optimization_task.cpp3ec3e37defd694dbe71ab28bd9e4eae06835410d1788267703000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: select guide_line pt as wbca smooth mode start_pt 2026-09-01 21:01:43 +08003ec3e37defd694dbe71ab28bd9e4eae06835410dfix: select guide_line pt as wbca smooth mode start_ptedittasks/plan/path_optimization_task.cppssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsvssep/test/ssep_planner_test.ccssep/common/utils/path_utils.hssep/test/local_regression/README.mdssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_problem.hssep/common/utils/path_utils.ccssep/keb_optimizer/keb_problem.cc1ce306593dd8a19b15f38021b55a4eb4e59da80c1788267937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提升拖挂车进场 KEB 路径质量增加粗搜索路径质量评估，限制普通进场优化抄近路、过度摆动和终点漂移。开放普通进场终端优化自由度，并在预热结果运动学不可行时追加固定权重收尾；补充碰撞诊断、单元测试和 8 个本地回归场景清单。 2026-09-01 21:05:37 +08001ce306593dd8a19b15f38021b55a4eb4e59da80cfix: 提升拖挂车进场 KEB 路径质量editssep/common/utils/path_utils.heditssep/common/utils/path_utils.cceditssep/test/ssep_planner_test.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_problem.haddssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsveditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/local_regression/README.mdeditssep/keb_optimizer/keb_problem.ccdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cpphmi/widget/diagnose.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/ssep_util.cppdata/ssep/ssep_ec.hppdata/decide/decide_reaction.hpptasks/deciders/long_decider/constrain_decider.cppdata/ssep/ssep_util.hpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpp4667f15318956d9de05312b2fe5af4e27224c6ff1788267959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善低贝位重搜触发与热启动策略允许普通入场弯道内首次检测低贝位后重搜，并按首次低贝位、约束变化、OGM 停止线和 SEARCH_UNUSE 分别选择完整搜索或历史路径热启动。车辆车头到达堆场口出口侧虚拟停止线后统一禁止新的低贝位搜索和等待停止线，保留检测状态与当前生效路径连续性；补充类型、位置门槛和弯内触发回归测试。 2026-09-01 21:05:59 +08004667f15318956d9de05312b2fe5af4e27224c6fffix: 完善低贝位重搜触发与热启动策略editdata/decide/decide_reaction.hppeditdata/plan/ssep_data.cppeditTesting/ssep_path_corridor_test.cppedithmi/widget/diagnose.cppedittasks/deciders/long_decider/constrain_decider.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/ssep_ec.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_util.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/ssep_ec.hppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/plan/ssep_data.cpphmi/widget/diagnose.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/routing_extension/routing_data.cppab67f8452b132dfac57b2e995b19e3eddfc931f41788274065000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持开放空间 routing 判段连续将 OPENSPACE 搜索来源锁存到 SSEP 路径包络，避免 early prepare 阶段因当前 ssep_ec 尚未恢复而提前切换 routing。\n\n车辆越出静态途径点框后按当前 SSEP 分段保持 open-space routing；隔离其他搜索类型，并在重搜保持旧路径期间保留包络和分段索引。补充诊断日志及多段、跨帧、重搜生命周期回归测试。 2026-09-01 22:47:45 +0800ab67f8452b132dfac57b2e995b19e3eddfc931f4fix: 保持开放空间 routing 判段连续editTesting/ssep_path_corridor_test.cppeditTesting/routing_map_guard_test.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditdata/other/ssep_path_corridor.cppedithmi/widget/diagnose.cppeditdata/other/ssep_path_corridor.hppeditdata/plan/ssep_data.cppoffboard/keb_vis_server/foxglove/keb_to_mcap.py81a973531e23260ee2dbaa24b8e548c2f11cf2c91788274622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容新版 Python Protobuf 运行库在导入生成的 pb2 模块前启用 pure-Python protobuf 后端，兼容工程内旧版 protoc 生成代码。避免 protobuf 4.x 下转换 KebScene 时触发 Descriptors cannot be created directly。 2026-09-01 22:57:02 +080081a973531e23260ee2dbaa24b8e548c2f11cf2c9fix: 兼容新版 Python Protobuf 运行库editoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/README.mdoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.proto8020473bcb6c955c36b14d7e81b8d2faf59fd3ad1788274637000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补全 Foxglove 可视化参考系新增标准 foxglove.FrameTransform schema，并在 MCAP 每帧写入 world 到 map 的单位变换。统一 SceneUpdate、TF 与 MCAP 日志时间戳，确保随机跳转和逐帧播放时均能解析参考系。 2026-09-01 22:57:17 +08008020473bcb6c955c36b14d7e81b8d2faf59fd3adfix: 补全 Foxglove 可视化参考系editoffboard/keb_vis_server/foxglove/README.mdaddoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protoeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cpp024a251b79b86bd236dd8a92bbeed161c50b0fc11788330712000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向重规划分段索引崩溃重搜保持路径包络期间校验当前分段索引，避免空分段结果进入方向读取并触发 FATAL。对异常索引增加限频诊断，并补充连续保持、新结果恢复及非法状态回归测试。 2026-09-02 14:31:52 +0800024a251b79b86bd236dd8a92bbeed161c50b0fc1fix: 修复换向重规划分段索引崩溃edittasks/deciders/other_decider/replan_decider.cppeditTesting/ssep_path_corridor_test.cppsubmodule/ads_proto0b90ac6c4785e9ef8a52798d10250bfcb29b4cb01788331553000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 删除遗留的ads submodule 2026-09-02 14:45:53 +08000b90ac6c4785e9ef8a52798d10250bfcb29b4cb0feat: 删除遗留的ads submoduledeletesubmodule/ads_protodata/constrain/longitude_constrain.cpp7a2af46c413f2efcd3d1c7c4ef3395503baa4b481788347970000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免闸口短距被聚类障碍覆盖闸口控制区内跳过聚类碰撞触发的普通安全距离恢复，保留动态短跟车策略。控制区外继续沿用原有聚类障碍延长跟车距离逻辑。 2026-09-02 19:19:30 +08007a2af46c413f2efcd3d1c7c4ef3395503baa4b48fix: 避免闸口短距被聚类障碍覆盖editdata/constrain/longitude_constrain.cppgitdata/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.cppgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolonghttp://159.27.114.184:8080/jenkins/user/liuwenjingliuwenjinghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.crhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/zhaojianfeng2zhaojianfeng2305http://159.27.114.184:8080/jenkins/view/01%E5%A4%A7%E6%A6%AD/job/orin-slave64/305/303http://159.27.114.184:8080/jenkins/view/01%E5%A4%A7%E6%A6%AD/job/orin-slave64/303/orinmasterconfListnoconfNo-use 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#300300false3001267166SUCCESS1787707235440http://159.27.114.184:8080/jenkins/view/01%E5%A4%A7%E6%A6%AD/job/orin-slave64/300/routing/parser/param_parser.ccrouting/parser/param_parser.hrouting/strategy/a_star_strategy.ccinterface/public_map.hae22c131b126b7f27307e3bd9f9f2671da5ceae41786599979000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 增加特殊区域 2026-08-13 13:46:19 +0800ae22c131b126b7f27307e3bd9f9f2671da5ceae4feat_out: 增加特殊区域editrouting/parser/param_parser.cceditrouting/parser/param_parser.heditrouting/strategy/a_star_strategy.cceditinterface/public_map.hgitdata/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题 2026-02-28 10:56:36 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2026-03-09 21:10:13 +08006b4cad426da64472bce0a1b42ba5414c4d02a0d1fix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cppCMakeLists.txtdf7f1ef3c7e632393236c47384f40942fc30f9641773062115000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加核心对象库并优化可执行文件链接逻辑 2026-03-09 21:15:15 +0800df7f1ef3c7e632393236c47384f40942fc30f964feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txtdata/config/cfg_lat_plan.hppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp.clangd9139b2a6a7d5a69cee55395a332187bbf2a096fb1773114548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add smooth_mode_wbca_params 2026-03-10 11:49:08 +08009139b2a6a7d5a69cee55395a332187bbf2a096fbfeat: add smooth_mode_wbca_paramsedittasks/plan/path_optimization_task.cppeditdata/config/cfg_lat_plan.hppeditdata/wbca/wbca_data.hppeditdata/config/cfg_lat_plan.cppedit.clangddata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cpp986293b15a5974c620ba0a521a5d167f82a501191773115397000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth_mode_wbca_params bug 2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cppdata/config/cfg_hmi.cppdata/config/cfg_hmi.hpphmi/replayer_hmi.cppreplayer/logic.cpp035e2cf830ba61ee63048e0e129dea20231d8af51773800729000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lock historical cloud point in replayer. 2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.editdata/config/cfg_hmi.hppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditreplayer/logic.cppdata/decide/decide_reaction.hpp.gitignoreCMakeLists.txttasks/deciders/search_decider/forward_search_decider.cppdata/ssep/forward_ec.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD 2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/decide/decide_reaction.hppeditCMakeLists.txtedit.gitignoreedittasks/deciders/search_decider/forward_search_decider.cppeditdata/ssep/forward_ec.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck. 2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/other_decider/replan_decider.hppdata/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params. 2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cppdata/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue. 2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cppplan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue. 2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse. 2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.hppedittasks/deciders/other_decider/replan_decider.cppeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cppdata/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection 2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cppdata/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching. 2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.editdata/plan/start_point_data.cppeditdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppedittasks/deciders/long_decider/constrain_decider.cppedittasks/deciders/long_decider/constrain_decider.hpptasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status. 2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug. 2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cppdata/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos 2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cppdata/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题 2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/planner_utils.ccbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑 2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/planner_utils.hssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.ccdata/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/config/cfg_env_const.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing 2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation. 2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times. 2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccplan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug 2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cppssep/scenarios/truck_general_planner.hssep/scenarios/imv_enter_station_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/path_utils.ccssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task 2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/ssep_planner.cceditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/truck_general_planner.heditssep/scenarios/imv_exit_parking_spot_planner.heditssep/common/utils/path_utils.cceditssep/scenarios/imv_enter_station_planner.hssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug 2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.ccplan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0 2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cppthirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version. 2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hppdata/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer. 2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cppssep/offboard/servers/path_repository_vis_server.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/protos/path_repository.protossep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep 2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/scenarios/truck_accurate_reversing_planner.cceditssep/common/utils/map_element_utils.hppaddssep/offboard/servers/path_repository_vis_html_template.heditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/path_repository.protoaddssep/protos/operation_mode.protoaddssep/data_structures/state_match_condition.ccaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/protos/scene.protoaddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/data_structures/path_repository_manager.ccaddssep/protos/state_match_condition.protoeditssep/offboard/scene_replay/CMakeLists.txteditssep/CMakeLists.txtaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/CMakeLists.txteditssep/ssep_planner.heditssep/offboard/ssep_planner_wrapper.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/scenarios/truck_general_planner.heditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccaddssep/offboard/generate_path_repository/CMakeLists.txtaddssep/data_structures/state_match_condition.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/protos/path_repository.protossep/maps/ogm_builder.ccssep/protos/ogm.protossep/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task 2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskaddssep/protos/ogm.protoeditssep/data_structures/path_utils.heditssep/maps/ogm.cceditssep/protos/path_repository.protoeditssep/offboard/servers/path_repository_vis_html_template.cceditssep/maps/ogm.heditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/data_structures/path_repository_manager.cceditssep/ssep_planner.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_repository_manager.heditssep/maps/ogm_builder.ccdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppsource/ros_source_offset.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2 2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditsource/ros_source_offset.cppeditdata/vehicle/related_offset.hppeditplan/prepare/prepare_offset.cppeditdata/config/cfg_env_const.hppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/plan_frame.hppdata/config/cfg_env_const.cppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus 2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/plan_frame.cppeditdata/plan_frame.hppadddata/vehicle/deviation_status.cppadddata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppdata/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan. 2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align 2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppdata/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align. 2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.edittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.cppeditdata/vehicle/related_offset.cppedithmi/draw/draw_ego.cppeditplan/prepare/prepare_offset.cppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppdata/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading 2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times 2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.hppdata/plan_frame.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset 2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offsetedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppeditdata/plan_frame.cppdata/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn 2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_bulk_yark_in_out_planner.ccdata/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error. 2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/ssep_planner.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题 2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance 2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题 2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccplan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station 2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cppdata/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception. 2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.edittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align 2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.hppssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/keb_optimizer/imv_keb_optimizer.hssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep 2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccaddssep/offboard/path_drawing_tool/path_drawing_html_template.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.cceditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/imv_keb_optimizer.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/keb_utils.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/keb_optimizer/keb_problem.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/ssep_planner.heditssep/scenarios/truck_general_planner.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/param_loader/param.heditssep/scenarios/planner_utils.heditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/data_structures/pose.heditssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/keb_optimizer/keb_utils.cceditssep/data_structures/path.haddssep/scenarios/tractor_trailer_short_distance_planner.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/protos/ogm.protoeditssep/maps/ogm.heditssep/data_structures/path.cceditssep/ssep_planner.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/protos/params.protoeditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/common/utils/scene_frame_visualization.cceditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/decide/decide_reaction.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/decide/decide_reaction.hpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer 2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_trailereditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.cppeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.hppdata/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug 2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cppscenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state. 2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditdata/config/cfg_func_sw.cppeditscenarios/scenario.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位 2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hhmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/throttle_chart.hpphmi/widget/velocity_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/widget/diagnose.cpphmi/common/chart.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时 2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/velocity_chart.cppedithmi/widget/command.hppedithmi/widget/diagnose.hppedithmi/widget/steer_chart.hppedithmi/widget/throttle_chart.hppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/velocity_chart.hppedithmi/widget/steer_chart.cppedithmi/widget/perf_cost_detail.cppedithmi/common/chart.hppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.cppedithmi/common/chart.cppedithmi/widget/command.cppdata/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type 2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题 2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/scenarios/tractor_trailer_general_planner.hssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/scenarios/tractor_trailer_general_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/scenarios/planner_utils.cceditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/imv_keb_optimizer.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/CMakeLists.txteditssep/scenarios/planner_utils.hdata/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能edithmi/draw/draw_map.cppeditdata/ssep/field_junction_ec.cppdata/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题 2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率 2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug 2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditdata/common/guide_path.cppeditreplayer/replayer_data_process/replayer_data_process.cppssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/common/utils/clipper2/src/clipper.engine.cppssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/maps/ogm.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/maps/ogm_builder.hssep/scenarios/truck_accurate_reversing_planner.ccssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep 2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepeditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccaddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.version.heditssep/keb_optimizer/keb_problem.heditssep/CMakeLists.txtaddssep/common/utils/clipper2/src/clipper.offset.cppaddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/common/utils/clipper2/include/clipper2/clipper.export.haddssep/common/utils/clipper2/include/clipper2/clipper.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/maps/ogm_builder.ccaddssep/common/utils/clipper2/src/clipper.engine.cppeditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/cost_functions.heditssep/maps/ogm_builder.haddssep/common/utils/clipper2/include/clipper2/clipper.core.haddssep/keb_optimizer/distance_field_interpolator.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/maps/ogm.heditssep/data_structures/polyline.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/maps/ogm.ccaddssep/maps/ogm_config_utils.ccaddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditssep/scenarios/truck_accurate_reversing_planner.heditssep/ssep_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/scenarios/tractor_trailer_enter_yard_planner.hdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/ssep/forward_ec.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance 2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cpptasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug 2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑 2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error 2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hmath/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型 2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态 - ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划 - SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态 - BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数 2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks 任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类; 其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行, 以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage 2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/stage.hppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/stage.cppdata/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false, 改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_, 日志同步改为 search from ego pose 2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger 2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppdata/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation 2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpptasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position. 2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cppssep/keb_optimizer/keb_problem.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/keb_problem.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line 2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cppplan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state 2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cpptasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening 2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppeditdata/plan/ssep_data.hppeditdata/config/cfg_func_sw.hppeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/coarse_search/batched_priority_queue.hssep/coarse_search/indexed_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/evaluator/heuristic_feature_computer.hssep/gpu/device_types.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍addssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/coarse_search/indexed_priority_queue.heditssep/gpu/collision/collision_checker.cuheditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/evaluator/heuristic_feature_computer.heditssep/coarse_search/batched_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/dubins_kernel.cuheditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/gpu/device_types.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/evaluator/evaluator.haddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/gpu_context.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/reeds_shepp_kernel.cuhaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/gpu_context.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search 2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/deciders/long_decider/constrain_decider.cpptasks/plan/reversing_truck_path_task.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory 2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppedittasks/deciders/long_decider/constrain_decider.cppedittasks/plan/reversing_truck_path_task.cppeditdata/other/flow_control.cppdata/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束 2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cppdata/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/constrain_data.hppdata/constrain/long_target.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/plan_frame.hpptasks/deciders/long_decider/constrain_decider.cppdata/constrain/longitude_constrain.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。 2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.hppeditdata/constrain/constrain_data.cppeditdata/plan_frame.hppeditdata/constrain/longitude_constrain.hppeditdata/constrain/constrain_data.hppeditdata/constrain/long_target.cppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/config/cfg_long_plan.cppedittasks/deciders/long_decider/constrain_decider.cppadddata/constrain/obstacle_stop_constraint_stabilizer.hppTesting/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。 2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景addTesting/obstacle_stop_constraint_stabilizer_test.cppeditCMakeLists.txthmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。 2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cppssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtssep/offboard/main_test/main_ssep_input.cccd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。 2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/main_test/main_ssep_input.ccssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial. 2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/css/style.cssaddssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/search-engines.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppdata/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器 2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器editssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.ccdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cceditssep/offboard/CMakeLists.txtaddssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdplan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层edithmi/common/pnc_graphics_view.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/forward_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/out_yard_junction_ec.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/into_yard_junction_ec.cppeditplan/prepare/prepare_ogm.cppedithmi/widget/pnc_mat_shared.cppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditdata/ssep/reverse_ec.cppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/widget/pnc_mat.cppeditdata/config/cfg_func_sw.cppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.hppeditdata/ssep/hmi_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/open_space_ec.cppcommon/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。 2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpphmi/widget/map.cpphmi/widget/map.hpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度 HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。 2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.cppedithmi/widget/map.hppssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。 2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/test/CMakeLists.txteditssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/scenarios/planner_utils.ccssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial 2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/vehicle-types.htmladdssep/keb_optimizer/tutorial/keb-problem.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppedittasks/deciders/search_decider/forward_search_decider.cppdata/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppplan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hppdata/ssep/open_space_ec.cpphmi/common/pnc_graphics_view.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层editplan/prepare/prepare_ogm.cppeditdata/ssep/hmi_virtual_obs.hppeditdata/ssep/into_yard_junction_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/config/cfg_func_sw.cppedithmi/draw/draw_ssep_virtual_obs.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/ssep/forward_ec.cppadddata/ssep/hmi_virtual_obs_line.hppedithmi/draw/draw_all.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/out_yard_junction_ec.cppedithmi/draw/draw_ssep_virtual_obs.hppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditdata/ssep/open_space_ec.cppedithmi/widget/pnc_mat.cppedithmi/widget/pnc_mat_shared.cppeditdata/ssep/reverse_ec.cppedithmi/common/pnc_graphics_view.cppedithmi/widget/replayer_pnc_mat.cppTesting/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。 2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editTesting/ssep_path_corridor_test.cppeditdata/other/flow_control.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppeditdata/other/ssep_path_corridor.cppscenarios/scenario.cppscenarios/stage.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。 2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/scenario.cppeditscenarios/stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。 2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpptasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpphmi/draw/draw_keb_debug.cppdata/plan_frame.hpptasks/plan/keb_path_optimize_task.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。 2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断editalgorithm/plan/keb_optimizer.cppaddhmi/draw/draw_keb_debug.cppedithmi/widget/diagnose.cppeditscenarios/scenario.cppedittasks/plan/keb_path_optimize_task.cppeditdata/plan_frame.cppeditdata/plan/keb_visualize_data.hppeditdata/plan_frame.hppedithmi/draw/draw_all.cppedittasks/plan/keb_utils.cppaddhmi/draw/draw_keb_debug.hppeditdata/config/cfg_hmi.cppedithmi/widget/pnc_mat_shared.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_path_optimize_task.hppedithmi/node_hmi.cppedittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_utils.hppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.hppedittasks/plan/keb_lane_follow_path_task.hppdata/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/dp_poly_path/trajectory_cost.cppdata/config/cfg_lat_decide.hppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。 2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editdata/dp_poly_path/trajectory_cost.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/config/cfg_lat_decide.hppeditdata/obstacle/obstacle_decider_attr.hppeditdata/config/cfg_lat_decide.cppadddata/obstacle/decision/obstacle_decision_test.cppadddata/dp_poly_path/trajectory_cost_test.cppeditdata/boundary/driving_corridor.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditconfig/config_imv/plan.yamleditdata/config/cfg_lat_plan.hppeditdata/config/cfg_lat_plan.cppeditCMakeLists.txtreplayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。 2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cppdocs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。 2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.htmldata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。 2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。 2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.hppplan/prepare/prepare_ogm.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.cppplan/prepare/prepare_ogm.hpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。 2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测edithmi/draw/draw_map.cppeditplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cppeditcommon/util/hdmap_wrapper.cppedithmi/draw/draw_map.hppeditcommon/util/hdmap_wrapper.hpptasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值 2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。同步更新类型说明，保持注释与处理逻辑一致。 2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。 2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppdata/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。 2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。 2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editdata/map/pnc_map/pnc_map.cppeditTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续 - standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数 - 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期 - 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界 - 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形 2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.cppeditdata/plan/switch_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/plan/start_point_data.hppedittasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性 - 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置 - 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算 - 普通路径规划继续沿用历史默认设置 2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editalgorithm/plan/pjpo.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditmath/piecewise_jerk/piecewise_jerk_problem.cppdata/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围 - 非货叉部件障碍物的前后扩展距离由5米调整为3米 - 货叉头尾部件继续保持2米扩展距离 2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cppgitalgorithm/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/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/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.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/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.cppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppeditnode/process/proc/proc_longtiude_controller.cppgitinterface/parser/map_loader.ccinterface/hdmap_impl.ccinclude/hdmap_interface/hdmap_impl.hinclude/hdmap_interface/public_data_struct.hinclude/hdmap_interface/hdmap.hinterface/hdmap.cc3418a9269a0892424cb5b1b42528fd3cdc725e921787219670000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: "增加GetConditionNoDrivingRegions接口" 2026-08-20 17:54:30 +08003418a9269a0892424cb5b1b42528fd3cdc725e92feat_out: "增加GetConditionNoDrivingRegions接口"editinclude/hdmap_interface/public_data_struct.heditinterface/parser/map_loader.cceditinclude/hdmap_interface/hdmap_impl.heditinterface/hdmap_impl.cceditinclude/hdmap_interface/hdmap.heditinterface/hdmap.ccinclude/hdmap_interface/public_data_struct.hbaaa7dbe0743898225ca422520bae8e624a4d3e11787284505000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 增加Region_Gate类型 2026-08-21 11:55:05 +0800baaa7dbe0743898225ca422520bae8e624a4d3e1feat_out: 增加Region_Gate类型editinclude/hdmap_interface/public_data_struct.hgithttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/caoxuecaoxuehttp://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing301http://159.27.114.184:8080/jenkins/view/01%E5%A4%A7%E6%A6%AD/job/orin-slave64/301/redorinmasterconfListGet-BranchsconfCould not get conf for 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#300300false3001267166SUCCESS1787707235440http://159.27.114.184:8080/jenkins/view/01%E5%A4%A7%E6%A6%AD/job/orin-slave64/300/routing/parser/param_parser.ccrouting/parser/param_parser.hrouting/strategy/a_star_strategy.ccinterface/public_map.hae22c131b126b7f27307e3bd9f9f2671da5ceae41786599979000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 增加特殊区域 2026-08-13 13:46:19 +0800ae22c131b126b7f27307e3bd9f9f2671da5ceae4feat_out: 增加特殊区域editrouting/parser/param_parser.cceditrouting/parser/param_parser.heditrouting/strategy/a_star_strategy.cceditinterface/public_map.hgitdata/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题 2026-02-28 10:56:36 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2026-03-09 21:10:13 +08006b4cad426da64472bce0a1b42ba5414c4d02a0d1fix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cppCMakeLists.txtdf7f1ef3c7e632393236c47384f40942fc30f9641773062115000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加核心对象库并优化可执行文件链接逻辑 2026-03-09 21:15:15 +0800df7f1ef3c7e632393236c47384f40942fc30f964feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txtdata/config/cfg_lat_plan.hppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp.clangd9139b2a6a7d5a69cee55395a332187bbf2a096fb1773114548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add smooth_mode_wbca_params 2026-03-10 11:49:08 +08009139b2a6a7d5a69cee55395a332187bbf2a096fbfeat: add smooth_mode_wbca_paramsedittasks/plan/path_optimization_task.cppeditdata/config/cfg_lat_plan.hppeditdata/wbca/wbca_data.hppeditdata/config/cfg_lat_plan.cppedit.clangddata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cpp986293b15a5974c620ba0a521a5d167f82a501191773115397000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth_mode_wbca_params bug 2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cppdata/config/cfg_hmi.cppdata/config/cfg_hmi.hpphmi/replayer_hmi.cppreplayer/logic.cpp035e2cf830ba61ee63048e0e129dea20231d8af51773800729000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lock historical cloud point in replayer. 2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.editdata/config/cfg_hmi.hppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditreplayer/logic.cppdata/decide/decide_reaction.hpp.gitignoreCMakeLists.txttasks/deciders/search_decider/forward_search_decider.cppdata/ssep/forward_ec.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD 2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/decide/decide_reaction.hppeditCMakeLists.txtedit.gitignoreedittasks/deciders/search_decider/forward_search_decider.cppeditdata/ssep/forward_ec.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck. 2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/other_decider/replan_decider.hppdata/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params. 2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cppdata/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue. 2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cppplan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue. 2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse. 2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.hppedittasks/deciders/other_decider/replan_decider.cppeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cppdata/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection 2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cppdata/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching. 2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.editdata/plan/start_point_data.cppeditdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppedittasks/deciders/long_decider/constrain_decider.cppedittasks/deciders/long_decider/constrain_decider.hpptasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status. 2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug. 2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cppdata/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos 2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cppdata/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题 2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/planner_utils.ccbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑 2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/planner_utils.cceditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/planner_utils.hssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.ccdata/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/config/cfg_env_const.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing 2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditplan/prepare/prepare_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation. 2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times. 2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccplan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug 2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cppssep/scenarios/truck_general_planner.hssep/scenarios/imv_enter_station_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/path_utils.ccssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task 2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/ssep_planner.cceditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/scenarios/truck_general_planner.heditssep/scenarios/imv_exit_parking_spot_planner.heditssep/common/utils/path_utils.cceditssep/scenarios/imv_enter_station_planner.hssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug 2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.ccplan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0 2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cppthirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version. 2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hppdata/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer. 2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cppssep/offboard/servers/path_repository_vis_server.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/protos/path_repository.protossep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/scenarios/truck_accurate_reversing_planner.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep 2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/scenarios/truck_accurate_reversing_planner.cceditssep/common/utils/map_element_utils.hppaddssep/offboard/servers/path_repository_vis_html_template.heditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/path_repository.protoaddssep/protos/operation_mode.protoaddssep/data_structures/state_match_condition.ccaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/protos/scene.protoaddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/data_structures/path_repository_manager.ccaddssep/protos/state_match_condition.protoeditssep/offboard/scene_replay/CMakeLists.txteditssep/CMakeLists.txtaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/CMakeLists.txteditssep/ssep_planner.heditssep/offboard/ssep_planner_wrapper.cceditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.heditssep/scenarios/truck_general_planner.heditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccaddssep/offboard/generate_path_repository/CMakeLists.txtaddssep/data_structures/state_match_condition.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/protos/path_repository.protossep/maps/ogm_builder.ccssep/protos/ogm.protossep/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task 2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskaddssep/protos/ogm.protoeditssep/data_structures/path_utils.heditssep/maps/ogm.cceditssep/protos/path_repository.protoeditssep/offboard/servers/path_repository_vis_html_template.cceditssep/maps/ogm.heditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/data_structures/path_repository_manager.cceditssep/ssep_planner.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_repository_manager.heditssep/maps/ogm_builder.ccdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppsource/ros_source_offset.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2 2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditsource/ros_source_offset.cppeditdata/vehicle/related_offset.hppeditplan/prepare/prepare_offset.cppeditdata/config/cfg_env_const.hppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/plan_frame.hppdata/config/cfg_env_const.cppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus 2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/plan_frame.cppeditdata/plan_frame.hppadddata/vehicle/deviation_status.cppadddata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppdata/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan. 2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align 2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppdata/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align. 2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.edittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.cppeditdata/vehicle/related_offset.cppedithmi/draw/draw_ego.cppeditplan/prepare/prepare_offset.cppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppdata/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading 2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times 2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.hppdata/plan_frame.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset 2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offsetedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppeditdata/plan_frame.cppdata/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn 2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_bulk_yark_in_out_planner.ccdata/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error. 2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/ssep_planner.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题 2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance 2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题 2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccplan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station 2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.hppeditplan/prepare/prepare_status.cppdata/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception. 2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.edittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align 2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.hppssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/keb_optimizer/imv_keb_optimizer.hssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep 2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccaddssep/offboard/path_drawing_tool/path_drawing_html_template.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.cceditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/imv_keb_optimizer.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/keb_utils.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/keb_optimizer/keb_problem.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/ssep_planner.heditssep/scenarios/truck_general_planner.heditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/param_loader/param.heditssep/scenarios/planner_utils.heditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/cost_features/dynamic_constraint.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/data_structures/pose.heditssep/scenarios/planner_utils.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/keb_optimizer/keb_utils.cceditssep/data_structures/path.haddssep/scenarios/tractor_trailer_short_distance_planner.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/protos/ogm.protoeditssep/maps/ogm.heditssep/data_structures/path.cceditssep/ssep_planner.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/protos/params.protoeditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/common/utils/scene_frame_visualization.cceditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/decide/decide_reaction.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/decide/decide_reaction.hpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer 2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_trailereditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/decide/decide_reaction.cppeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.hppdata/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug 2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cppscenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state. 2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.hppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditdata/config/cfg_func_sw.cppeditscenarios/scenario.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位 2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hhmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/throttle_chart.hpphmi/widget/velocity_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/widget/diagnose.cpphmi/common/chart.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时 2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/velocity_chart.cppedithmi/widget/command.hppedithmi/widget/diagnose.hppedithmi/widget/steer_chart.hppedithmi/widget/throttle_chart.hppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/velocity_chart.hppedithmi/widget/steer_chart.cppedithmi/widget/perf_cost_detail.cppedithmi/common/chart.hppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.cppedithmi/common/chart.cppedithmi/widget/command.cppdata/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type 2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题 2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/scenarios/tractor_trailer_general_planner.hssep/protos/ssep_scenario_type.protossep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/scenarios/tractor_trailer_general_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/scenarios/planner_utils.cceditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/protos/ssep_scenario_type.protoeditssep/keb_optimizer/imv_keb_optimizer.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/CMakeLists.txteditssep/scenarios/planner_utils.hdata/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能edithmi/draw/draw_map.cppeditdata/ssep/field_junction_ec.cppdata/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题 2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率 2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug 2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditdata/common/guide_path.cppeditreplayer/replayer_data_process/replayer_data_process.cppssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/common/utils/clipper2/src/clipper.engine.cppssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/keb_optimizer/keb_problem.ccssep/maps/ogm_builder.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/maps/ogm.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/maps/ogm_builder.hssep/scenarios/truck_accurate_reversing_planner.ccssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep 2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepeditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccaddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.version.heditssep/keb_optimizer/keb_problem.heditssep/CMakeLists.txtaddssep/common/utils/clipper2/src/clipper.offset.cppaddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/common/utils/clipper2/include/clipper2/clipper.export.haddssep/common/utils/clipper2/include/clipper2/clipper.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/maps/ogm_builder.ccaddssep/common/utils/clipper2/src/clipper.engine.cppeditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/cost_functions.heditssep/maps/ogm_builder.haddssep/common/utils/clipper2/include/clipper2/clipper.core.haddssep/keb_optimizer/distance_field_interpolator.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/maps/ogm.heditssep/data_structures/polyline.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/maps/ogm.ccaddssep/maps/ogm_config_utils.ccaddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditssep/scenarios/truck_accurate_reversing_planner.heditssep/ssep_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/scenarios/tractor_trailer_enter_yard_planner.hdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/ssep/forward_ec.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance 2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cpptasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug 2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑 2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error 2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hmath/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型 2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态 - ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划 - SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态 - BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数 2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks 任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类; 其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行, 以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage 2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/stage.hppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/stage.cppdata/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false, 改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_, 日志同步改为 search from ego pose 2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger 2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppdata/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation 2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpptasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position. 2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cppssep/keb_optimizer/keb_problem.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/keb_problem.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line 2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cppplan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state 2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cpptasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening 2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppeditdata/plan/ssep_data.hppeditdata/config/cfg_func_sw.hppeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/coarse_search/batched_priority_queue.hssep/coarse_search/indexed_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/evaluator/heuristic_feature_computer.hssep/gpu/device_types.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍addssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/coarse_search/indexed_priority_queue.heditssep/gpu/collision/collision_checker.cuheditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/evaluator/heuristic_feature_computer.heditssep/coarse_search/batched_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/dubins_kernel.cuheditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/gpu/device_types.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/evaluator/evaluator.haddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/gpu_context.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/reeds_shepp_kernel.cuhaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/gpu_context.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search 2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/deciders/long_decider/constrain_decider.cpptasks/plan/reversing_truck_path_task.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory 2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppedittasks/deciders/long_decider/constrain_decider.cppedittasks/plan/reversing_truck_path_task.cppeditdata/other/flow_control.cppdata/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束 2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cppdata/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/constrain_data.hppdata/constrain/long_target.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/plan_frame.hpptasks/deciders/long_decider/constrain_decider.cppdata/constrain/longitude_constrain.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。 2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.hppeditdata/constrain/constrain_data.cppeditdata/plan_frame.hppeditdata/constrain/longitude_constrain.hppeditdata/constrain/constrain_data.hppeditdata/constrain/long_target.cppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/config/cfg_long_plan.cppedittasks/deciders/long_decider/constrain_decider.cppadddata/constrain/obstacle_stop_constraint_stabilizer.hppTesting/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。 2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景addTesting/obstacle_stop_constraint_stabilizer_test.cppeditCMakeLists.txthmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。 2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cppssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtssep/offboard/main_test/main_ssep_input.cccd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。 2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/main_test/main_ssep_input.ccssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial. 2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/css/style.cssaddssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/search-engines.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppdata/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器 2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器editssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.ccdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cceditssep/offboard/CMakeLists.txtaddssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdplan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层edithmi/common/pnc_graphics_view.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/forward_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/out_yard_junction_ec.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/into_yard_junction_ec.cppeditplan/prepare/prepare_ogm.cppedithmi/widget/pnc_mat_shared.cppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditdata/ssep/reverse_ec.cppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/widget/pnc_mat.cppeditdata/config/cfg_func_sw.cppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.hppeditdata/ssep/hmi_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/open_space_ec.cppcommon/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。 2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpphmi/widget/map.cpphmi/widget/map.hpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度 HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。 2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.cppedithmi/widget/map.hppssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。 2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/test/CMakeLists.txteditssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/scenarios/planner_utils.ccssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial 2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/vehicle-types.htmladdssep/keb_optimizer/tutorial/keb-problem.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppedittasks/deciders/search_decider/forward_search_decider.cppdata/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppplan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hppdata/ssep/open_space_ec.cpphmi/common/pnc_graphics_view.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层editplan/prepare/prepare_ogm.cppeditdata/ssep/hmi_virtual_obs.hppeditdata/ssep/into_yard_junction_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/config/cfg_func_sw.cppedithmi/draw/draw_ssep_virtual_obs.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/ssep/forward_ec.cppadddata/ssep/hmi_virtual_obs_line.hppedithmi/draw/draw_all.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/out_yard_junction_ec.cppedithmi/draw/draw_ssep_virtual_obs.hppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditdata/ssep/open_space_ec.cppedithmi/widget/pnc_mat.cppedithmi/widget/pnc_mat_shared.cppeditdata/ssep/reverse_ec.cppedithmi/common/pnc_graphics_view.cppedithmi/widget/replayer_pnc_mat.cppTesting/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。 2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editTesting/ssep_path_corridor_test.cppeditdata/other/flow_control.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppeditdata/other/ssep_path_corridor.cppscenarios/scenario.cppscenarios/stage.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。 2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/scenario.cppeditscenarios/stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。 2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpptasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.hppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpphmi/draw/draw_keb_debug.cppdata/plan_frame.hpptasks/plan/keb_path_optimize_task.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。 2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断editalgorithm/plan/keb_optimizer.cppaddhmi/draw/draw_keb_debug.cppedithmi/widget/diagnose.cppeditscenarios/scenario.cppedittasks/plan/keb_path_optimize_task.cppeditdata/plan_frame.cppeditdata/plan/keb_visualize_data.hppeditdata/plan_frame.hppedithmi/draw/draw_all.cppedittasks/plan/keb_utils.cppaddhmi/draw/draw_keb_debug.hppeditdata/config/cfg_hmi.cppedithmi/widget/pnc_mat_shared.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_path_optimize_task.hppedithmi/node_hmi.cppedittasks/plan/keb_lane_follow_path_task.cppedittasks/plan/keb_utils.hppedithmi/replayer_hmi.cppeditdata/config/cfg_hmi.hppedittasks/plan/keb_lane_follow_path_task.hppdata/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/dp_poly_path/trajectory_cost.cppdata/config/cfg_lat_decide.hppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。 2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editdata/dp_poly_path/trajectory_cost.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/config/cfg_lat_decide.hppeditdata/obstacle/obstacle_decider_attr.hppeditdata/config/cfg_lat_decide.cppadddata/obstacle/decision/obstacle_decision_test.cppadddata/dp_poly_path/trajectory_cost_test.cppeditdata/boundary/driving_corridor.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision.hppeditconfig/config_imv/plan.yamleditdata/config/cfg_lat_plan.hppeditdata/config/cfg_lat_plan.cppeditCMakeLists.txtreplayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。 2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cppdocs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。 2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.htmldata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。 2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。 2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.hppplan/prepare/prepare_ogm.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.cppplan/prepare/prepare_ogm.hpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。 2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测edithmi/draw/draw_map.cppeditplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cppeditcommon/util/hdmap_wrapper.cppedithmi/draw/draw_map.hppeditcommon/util/hdmap_wrapper.hpptasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值 2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。同步更新类型说明，保持注释与处理逻辑一致。 2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。 2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppdata/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。 2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。 2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editdata/map/pnc_map/pnc_map.cppeditTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续 - standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数 - 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期 - 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界 - 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形 2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.cppeditdata/plan/switch_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppeditdata/plan/start_point_data.hppedittasks/plan/pjpo_task.cppmath/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性 - 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置 - 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算 - 普通路径规划继续沿用历史默认设置 2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editalgorithm/plan/pjpo.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditmath/piecewise_jerk/piecewise_jerk_problem.cppdata/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围 - 非货叉部件障碍物的前后扩展距离由5米调整为3米 - 货叉头尾部件继续保持2米扩展距离 2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cppgitalgorithm/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/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/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.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/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.cppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppeditnode/process/proc/proc_longtiude_controller.cppgitinterface/parser/map_loader.ccinterface/hdmap_impl.ccinclude/hdmap_interface/hdmap_impl.hinclude/hdmap_interface/public_data_struct.hinclude/hdmap_interface/hdmap.hinterface/hdmap.cc3418a9269a0892424cb5b1b42528fd3cdc725e921787219670000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: "增加GetConditionNoDrivingRegions接口" 2026-08-20 17:54:30 +08003418a9269a0892424cb5b1b42528fd3cdc725e92feat_out: "增加GetConditionNoDrivingRegions接口"editinclude/hdmap_interface/public_data_struct.heditinterface/parser/map_loader.cceditinclude/hdmap_interface/hdmap_impl.heditinterface/hdmap_impl.cceditinclude/hdmap_interface/hdmap.heditinterface/hdmap.ccinclude/hdmap_interface/public_data_struct.hbaaa7dbe0743898225ca422520bae8e624a4d3e11787284505000http://159.27.114.184:8080/jenkins/user/caoxuecaoxuecaoxue@senior.autofeat_out: 增加Region_Gate类型 2026-08-21 11:55:05 +0800baaa7dbe0743898225ca422520bae8e624a4d3e1feat_out: 增加Region_Gate类型editinclude/hdmap_interface/public_data_struct.hgithttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/chenranchenranhttp://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/caoxuecaoxuehttp://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing301http://159.27.114.184:8080/jenkins/view/01%E5%A4%A7%E6%A6%AD/job/orin-slave64/301/Build stability: 3 out of the last 5 builds failed.icon-health-20to39health-20to39.png40falsefalseorinmasterconfListGet-BranchsconfCould not get conf for 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