[Jenkins]Jenkins

Changes

Summary

  1. refactor:优化出堆场 + 短直线+ 进堆场场景的搜索 (details)
  2. feat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器 (details)
  3. fix:修复停止线赋值的bug (details)
  4. fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题 (details)
  5. fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划 (details)
  6. refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性 (details)
  7. feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作 (details)
  8. fix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。 (details)
  9. fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题 (details)
  10. fix:  Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径 (details)
  11. 场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 (details)
  12. BTActRunPlanner: 进入海侧路口区域时退出常规 planner (details)
Commit 721a4e31ae95125d507ef6d44828045909389114 by wuyanjun110
refactor:优化出堆场 + 短直线+ 进堆场场景的搜索
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/ssep/out_yard_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit c2d6a5e60ae17c4145c7b8cffdb412b40e0a3e1c by wuyanjun110
feat: 添加堆场间(BETWEEN_YARD)任务条件, 支持堆场间切换KEB横向规划器

- 新增 TaskConditionType::BETWEEN_YARD, 判定复用 IsThroughYard()
  (STRAIGHT_OUT/INTO_YARD_MULTI/SINGLE_BEFORE 四个 region)
- 收窄 YARD_PJPO_SWITCH_ENABLED 为 IsInYard(), 与 BETWEEN_YARD 互斥,
  避免堆场间时 PJPO 抢占 KEB
- stage.cpp: task 运行失败日志降频 LOG_EVERY_N 1->100

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedscenarios/stage.cpp
Commit c985b5d139bd58bfced869c12fd281635385d23d by wuyanjun110
fix:修复停止线赋值的bug
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 7208d3d12ea79d541e5468946bb14f96755e6321 by wuyanjun110
fix: 修复 Clang 编译器下 LLDB 调试器无法查看 STL 容器内容的问题
The file was modifiedCMakeLists.txt
Commit ae7311500c04fd8ac201a456995c22500151a2b8 by wuyanjun110
fix: 调整 MapEnvelop 扩展点距离参数以优化路径规划
The file was modifieddata/map/envelop/map_envelop.cpp
Commit c9307e98a239504f9c8b930abc637985f9344354 by wuyanjun110
refactor: 支持多候选参考路段索引查找，增强 UpdateAttr 的鲁棒性
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifieddata/map/reference/reference_road_section.hpp
Commit e65ecba034e9ae68666f2a036d3ac12d4ef5c7d2 by wuyanjun110
feat:<keb>临时关闭车头拉直距离段内缩小碰撞buffer的操作
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 4087e2163c2b30f8fb152efde2d0612718dbb0dc by tangwenqing
fix: SSEP: 1. 解决威海多段倒车拉直搜索会反复往前的问题。2. 修复杨浦码头面直接进堆场在超过pass point的位置重规划时会规划失败的问题。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit f7249bacf26ce9e5f0c547161e6b20c21212f097 by tangwenqing
fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题

The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit 92d0e0be4b06853615aeeb5832cbe87e382faa68 by tangwenqing
fix:  Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径

The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit 682605ae5942205627501f18eef3ba732dd2ee3c by wuyanjun110
场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判

- U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE)
- 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽
The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/scenario/scenario_region_condition.cpp
Commit d34f7fb6b1983910d947ca2f83ee585ab76f2447 by wuyanjun110
BTActRunPlanner: 进入海侧路口区域时退出常规 planner
The file was modifieddata/scenario/scenario_planner_action.cpp