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Changes

Summary

  1. fix: 保留正向 DP 参考并约束历史边界融合 (details)
  2. fix: 剩余停车优先纯倒车并统一历史回退预算 (details)
  3. fix: 在单次停车换向中择优主挂车姿态 (details)
Commit 35331d19db1606b201da8507d1bc1ea9dba5ce23 by wuyanjun110
fix: 保留正向 DP 参考并约束历史边界融合

正向 PJPO 使用 DP 已选参考，避免通道变宽时被边界中点牵引横移；短缺或无效 DP 保留引导线及通道中点回退。
将历史边界投影到当前引导线法向后融合，只收紧当前边界，并跳过方向变化、无效或不相交历史。

验证：17 项路径参考及边界专项测试通过；249 帧现场记录输入的 CPU DP/PJPO 独立帧对照均求解成功。新增可选 bag 回归入口，结果不作为闭环验证。
The file was addedTesting/path_bounds_reference_test.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.hpp
The file was modifiedTesting/CMakeLists.txt
The file was addedTesting/pjpo_bag_regression_test.cpp
Commit a384e9210a1979458ac5b374906e9f6aa7308cb9 by wuyanjun110
fix: 剩余停车优先纯倒车并统一历史回退预算

无途经点的剩余停车依次尝试带引导纯倒车、普通纯倒车和允许前进调整的兜底，缺少历史时同样生效。构建、搜索与优化共享请求绝对截止时间。
历史重优化最多占三分之一预算；失败后按剩余预算重建阶段，避免搜索尚未开始就过期。保留显式禁止调整、OrderedVia 和碰撞验收语义。

验证：停车相关 114 项测试通过；六帧 GPU 版本回放成功，18:04:32 从三段变为一段倒车。剩余倒车分支实际采用 CPU 搜索。预算分配仍可能压缩复杂调整场景的搜索时间。
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/scenarios/tractor_trailer_reverse_priority_parking_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/search_guide_fallback_planner.h
The file was addedssep/test/parking_search_stages_test.cc
Commit e4d57b5c54ce7716fb347acefd0bffb296ec6440 by wuyanjun110
fix: 在单次停车换向中择优主挂车姿态

以输入途经点主挂车朝向及换向附近曲率变化评价粗搜索候选，限定额外时间、迭代和候选数量；多次调整兜底仍沿用首解策略。
评分前排除几何换向无效或绕圈路径，超时保留已验证粗候选，停止条件满足后不再扩展当前批次；单树终点命中时清理旧双树连接。

验证：114 项停车测试通过，六帧 GPU 版本回放及独立碰撞、机械曲率检查通过。18:01:54 实际 GPU 换向夹角从约 14.6 度降至 2.4 度，保留一前一倒；11:32:46 保持原四次换向。未提高平滑权重或放宽物理验收。
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/test/bidirectional_candidate_validation_test.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h

Summary

  1. fix: 链接 OpenSSL 修复 paho-mqtt3as 静态库缺符号 (details)
Commit 57e50e77f0dd130de2c0dc9abc179f87463ad867 by zhaojianfeng2
fix: 链接 OpenSSL 修复 paho-mqtt3as 静态库缺符号

feat_record 交叉编译时 libpaho-mqtt3as.a 依赖 SSL_get_verify_result，
需显式链接 OpenSSL::SSL / OpenSSL::Crypto，避免 DSO missing。
The file was modifiedCMakeLists.txt

Summary

  1. 添加新模型（6-9月错漏检数据） (details)
  2. 直行点云为空时信任点云 (details)
Commit 094f7a145ff911798feb9a5552315fb7964e97ef by liuwenjing
添加新模型（6-9月错漏检数据）
The file was addedparams/model/resnet18-224x398-261009_50.onnx
Commit 81aa18f47a76af98598c7671a72e6aa5d2d0f322 by liuwenjing
直行点云为空时信任点云
The file was addedcore/empty_trailer_lidar_fallback.h
The file was modifiedparams/spreader_detection.yaml
The file was removedtests/rear_box_lidar_fallback_test.cpp
The file was modifiedcore/spreader_detection.h
The file was modifiedcore/spreader_detection.cpp