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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/