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module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilemodule-ros2.jenkinsfile10c391a1b686e5b2ada1dbf43f1453acba0113ac1790580232000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile 2026-09-28 07:23:52 +000010c391a1b686e5b2ada1dbf43f1453acba0113acUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilemodule-ros2.jenkinsfilef1a40abe825d795c13de58ea3192a7131f1251091790581382000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile 2026-09-28 07:43:02 +0000f1a40abe825d795c13de58ea3192a7131f125109Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilemodule-ros2.jenkinsfile33a01a8377ea3e184ee49aadc4b6880f5d9c10ee1790581661000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile 2026-09-28 07:47:41 +000033a01a8377ea3e184ee49aadc4b6880f5d9c10eeUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilemodule-ros2.jenkinsfileee0e39d1ec5209db872bf5d1da1ed8403fe9e6671790581688000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile 2026-09-28 07:48:08 +0000ee0e39d1ec5209db872bf5d1da1ed8403fe9e667Update module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilemodule-ros2.jenkinsfilea8307dc7c0c05d8222191dffd96bed99f7c6a88f1790583426000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile 2026-09-28 08:17:06 +0000a8307dc7c0c05d8222191dffd96bed99f7c6a88fUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilemodule-ros2.jenkinsfile24f9c3d3844facdc7af96e1893122383611c270d1790584275000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate module-ros2.jenkinsfile 2026-09-28 08:31:15 +000024f9c3d3844facdc7af96e1893122383611c270dUpdate module-ros2.jenkinsfileeditmodule-ros2.jenkinsfilegitTesting/ssep_path_corridor_test.cpptasks/plan/keb_utils.cppscenarios/task_condition_evaluator.cpptasks/plan/keb_utils.hppebf79838cebf70c654ad674503a1cedbe50bb8c01790185524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 按任务终点与路口中点选择堆场规划器 使用当前行驶段剩余距离判断任务终点是否越过进出场路口中点，避免延长引导线和区域提前判定误触发 KEB。终点在中点或之前时按已开启的堆场 PJPO 开关选择 PJPO，超过中点时保留 KEB。 选择器与 KEB 目标构造共用终点检查，保留缺输入报错及带缓存路口的尾段复用。补充中点边界、规划器切换、换向段终点、无效输入与连续路口回归。分布式编译及 19 项相关测试通过。 2026-09-24 01:45:24 +0800ebf79838cebf70c654ad674503a1cedbe50bb8c0fix: 按任务终点与路口中点选择堆场规划器editTesting/ssep_path_corridor_test.cppeditscenarios/task_condition_evaluator.cppedittasks/plan/keb_utils.hppedittasks/plan/keb_utils.cppdata/config/cfg_env_const.hppmath/filter/median_filter.hppreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/config/cfg_env_const.cppCMakeLists.txtreplayer/scene_data/compact_custom_field_proto_codec.cppTesting/scene_replay_foundation_test.cpptools/pnc_proto_mapper/audit_full_custom_codecs.pydata/constrain/temporary_stop_data.cppreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/full_proto_custom_encoder.cppdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdproto/decision.protodata/constrain/temporary_stop_data.hppdata/constrain/block_data.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsonproto/pnc_scene/compact_plan_frame_fields.protoreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlproto/config.protoTesting/disable_stop_regression_test.cppreplayer/scene_data/generated/compact_typed_field_codec.cppreplayer/scene_data/config_proto_codec.cppreplayer/scene_data/compact_numeric_policy.yamldata/constrain/disable_stop_range.cppreplayer/scene_data/config_proto_codec.hppdata/constrain/disable_stop_range.hppreplayer/scene_data/plan_frame_nested_persistence_review.yamldocs/pnc_algorithm_replay/plan_frame_field_workflow.mdTesting/disable_stop_queue_test.cppreplayer/scene_data/plan_frame_full_mapping.yamlreplayer/scene_data/plan_frame_persistence_policy.yamldata/constrain/disable_stop_queue.hppreplayer/scene_data/plan_frame_field_roles.csvdata/constrain/block_data.hppTesting/CMakeLists.txtreplayer/scene_data/generated/scene_replay_api_descriptor.pbreplayer/scene_data/generated/plan_frame_descriptor.pb70146373ee82184f8d33a368003d6fc2f3c8eb941790220559000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 合入禁停队列预测并修正整车范围与缓存退出 仅合入 6055d1444943aeae3754e02473b6ba418b9ab5cb，保留当前分支的信号灯禁停策略和 can_jump 语义。 路口与普通禁停区已扩展整车长度，预测匹配避免重复计入；岸桥保留挂车占用判断。通过点锚点缺失时按累计位移推进缓存，并在整段通过后退出。修复连续过期条目清理的迭代器失效。 按帧复用队列预测结果，保持原前车选择与预测参数；删除 use_func_disable_stop_debug_ 参数及专用日志。 为新增预测、滤波窗口、保持状态、路口缓存和入口偏移补齐 typed Full/Compact 合同及回放测试；统一显式空 Full codec 的生成与审计语义。 验证：分布式构建 pnc_node 和两个测试目标成功；routing_map_guard 78 项通过，scene_replay_foundation 288 项通过、2 项因缺可选样本跳过；其中 3 项本地服务测试解除端口沙箱限制后重跑通过。生成检查、Proto breaking 检查和持久化目录检查通过。 2026-09-24 11:29:19 +080070146373ee82184f8d33a368003d6fc2f3c8eb94fix: 合入禁停队列预测并修正整车范围与缓存退出editreplayer/scene_data/generated/compact_typed_field_codec.cppeditreplayer/scene_data/generated/plan_frame_descriptor.pbeditreplayer/scene_data/plan_frame_nested_persistence_review.yamleditreplayer/scene_data/config_proto_codec.hppeditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditdata/constrain/block_data.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/plan_frame_full_mapping.yamleditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdaddTesting/disable_stop_queue_test.cppeditreplayer/scene_data/compact_custom_field_proto_codec.cppeditTesting/CMakeLists.txteditreplayer/scene_data/generated/plan_frame_encoder.cppadddata/constrain/disable_stop_queue.hppeditdata/config/cfg_env_const.cppaddTesting/disable_stop_regression_test.cppeditdata/constrain/disable_stop_range.hppeditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/constrain/temporary_stop_data.hppeditreplayer/scene_data/full_proto_custom_encoder.cppeditdata/constrain/disable_stop_range.cppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditreplayer/scene_data/plan_frame_persistence_policy.yamledittools/pnc_proto_mapper/audit_full_custom_codecs.pyeditreplayer/scene_data/compact_numeric_policy.yamleditTesting/scene_replay_foundation_test.cppeditCMakeLists.txteditmath/filter/median_filter.hppeditdata/constrain/block_data.hppeditproto/decision.protoeditreplayer/scene_data/config_proto_codec.cppeditdata/config/cfg_env_const.hppeditproto/config.protoeditproto/pnc_scene/compact_plan_frame_fields.protoeditdata/constrain/temporary_stop_data.cppeditdocs/pnc_algorithm_replay/plan_frame_persistence_catalog.mdeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondocs/pnc_algorithm_replay/proto_generation.mdAGENTS.mddocs/pnc_algorithm_replay/plan_frame_field_workflow.md344373f6f048c4464359e98d3c30ed0af1229ce21790221008000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充多分支 Proto 兼容与发布规范 明确固定 baseline 检查无法覆盖并行分支冲突，要求统一核对字段编号、对活跃发布版本检查描述符及双向读写，并记录发布物合同。将流程提醒加入 AGENTS.md，供后续代码修改遵循。 2026-09-24 11:36:48 +0800344373f6f048c4464359e98d3c30ed0af1229ce2docs: 补充多分支 Proto 兼容与发布规范editAGENTS.mdeditdocs/pnc_algorithm_replay/proto_generation.mdeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mddata/obstacle/cluster_lane_change_safety_test.cppde3f72d5741168549187d530d99818f0700baae71790250243000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 适配临时停车范围的障碍物参数 为凸包换道安全测试补齐 AddDisableRange 新增的障碍物映射参数，恢复测试目标编译。 2026-09-24 19:44:03 +0800de3f72d5741168549187d530d99818f0700baae7test: 适配临时停车范围的障碍物参数editdata/obstacle/cluster_lane_change_safety_test.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cpp67d43604b8c435034219db009741feec09406e3d1790250243000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免会车准备段过度收缩绕行空间 会车近侧目标保持在统一 SL 坐标系，移除按源段与当地安全右界差值平移目标的逻辑，避免将远处静态障碍缺口扩大到上游。保留源段可行性和当地完整车宽保护，并补充障碍缺口与借道宽度变化回归。 2026-09-24 19:44:03 +080067d43604b8c435034219db009741feec09406e3dfix: 避免会车准备段过度收缩绕行空间editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppreplayer/scene_data/generated/compact_scene_descriptor.pbreplayer/scene_data/generated/plan_frame_field_roles.jsondata/obstacle/decision/obstacle_decision_test.cppreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsondata/obstacle/obstacle.hppreplayer/scene_data/compact_numeric_policy.yamltools/pnc_proto_mapper/sync_container_schema.pydata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppreplayer/scene_data/obstacle_proto_codec.cppTesting/compact_driving_corridor_restore_test.cppTesting/scene_replay_foundation_test.cppdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdtools/pnc_proto_mapper/test_container_schema_registration.pyreplayer/scene_data/plan_frame_field_roles.csvreplayer/scene_data/generated/container_schema_inputs.jsonreplayer/scene_data/generated/plan_frame_encoder.cppreplayer/scene_data/generated/scene_replay_api_descriptor.pbproto/obstacle.protoreplayer/scene_data/generated/plan_frame_descriptor.pb3673d874187d6c64feb572f3f1d9755df30c1caa1790250262000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保留静止障碍物短时漏检后的绕行确认依据 保存最长 0.5 秒的同 ID 静止确认依据，恢复前核对类型、跟踪年龄、位置、尺寸及原始和滤波运动证据。仅恢复确认计数，绕行策略与承诺仍按当前场景计算，避免 OBJ 与凸包反复切换造成重复等待。 在 feat_proto_jinxi 登记 ObstaclesProto 字段 8，同步 Full、Compact 和 Candidate 编解码及缺字段默认行为，修复旧容器清单覆盖新字段登记的问题。新增生命周期、运动否决、合同兼容与带宽回归。 验证：分布式构建 pnc_node、pnc_replayer 及测试目标通过；162 项决策与走廊测试、290 项回放测试通过。453 场景 90 帧回放验证第 41、65、74 帧恢复即允许绕行，初次检测仍等待确认；合同生成及兼容检查通过。 2026-09-24 19:44:22 +08003673d874187d6c64feb572f3f1d9755df30c1caafix: 保留静止障碍物短时漏检后的绕行确认依据editdata/obstacle/decision/obstacle_decision.hppeditreplayer/scene_data/plan_frame_field_roles.csveditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditTesting/scene_replay_foundation_test.cppeditreplayer/scene_data/generated/compact_scene_descriptor.pbeditreplayer/scene_data/obstacle_proto_codec.cppeditreplayer/scene_data/generated/container_schema_inputs.jsoneditreplayer/scene_data/generated/plan_frame_descriptor.pbeditdata/obstacle/obstacle.hppeditdata/obstacle/decision/obstacle_decision.cppeditproto/obstacle.protoeditreplayer/scene_data/generated/plan_frame_encoder.cppeditdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdeditTesting/compact_driving_corridor_restore_test.cppedittools/pnc_proto_mapper/sync_container_schema.pyeditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditreplayer/scene_data/generated/plan_frame_field_roles.jsoneditdata/obstacle/decision/obstacle_decision_test.cppeditreplayer/scene_data/compact_numeric_policy.yamladdtools/pnc_proto_mapper/test_container_schema_registration.pyTesting/task_align_terminal_stop_test.cppTesting/CMakeLists.txtdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppe146a0387c90cd0e721513f101f7f0fb507312e61790572026000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复一次对准终点停车后未进入锁定状态 允许车辆已静止且因绝对终点停车进入 STOP_CTRL 时，在正向偏差不超过停车线接管阈值的情况下进入 ALIGN_LOCK，避免约 2 cm 剩余偏差使任务停留在 ALIGN_1ST。保留原有负偏差转换行为，并补充距离边界、静止条件和停车原因回归测试。 2026-09-28 13:07:06 +0800e146a0387c90cd0e721513f101f7f0fb507312e6fix: 修复一次对准终点停车后未进入锁定状态addTesting/task_align_terminal_stop_test.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditTesting/CMakeLists.txtoffboard/keb_vis_server/test_heading_diagnostics.jsdata/config/cfg_hmi_layer_mapping.yamloffboard/keb_vis_server/keb_vis_html_template.ccreplayer/scene_data/hmi_layer_manifest.yamlssep/offboard/servers/scene_vis_html_template.cchmi/widget/pnc_mat_shared.cppreplayer/scene_data/generated/hmi_layer_catalog.cppssep/offboard/servers/test_heading_diagnostics.jshmi/draw/draw_all.cpphmi/draw/draw_keb_debug.hpphmi/draw/keb_heading_deviation.hpphmi/draw/draw_keb_debug.cppTesting/CMakeLists.txtTesting/keb_heading_deviation_test.cpp1e690475945ef9fb1b162332ff6e4d6e221df5551790585514000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 为 KEB 可视化标注最大航向偏差 在 HMI 的 SSEP/实时 KEB、独立 KEB 网页和场景网页中标注车头与挂车最大角差点、车框、点序号和角度。 按到达方向处理倒车和换向，使用挂车后轴几何；缺挡位时明确采用轴线差，IMV 按 beta 可用性标注。 补充 C++/JavaScript 回归和 HMI 图层登记，覆盖首点未知方向、换向后最大点、零值字段及退化路径。 2026-09-28 16:51:54 +08001e690475945ef9fb1b162332ff6e4d6e221df555feat: 为 KEB 可视化标注最大航向偏差editreplayer/scene_data/generated/hmi_layer_catalog.cppaddoffboard/keb_vis_server/test_heading_diagnostics.jseditTesting/CMakeLists.txtedithmi/draw/draw_keb_debug.hppeditreplayer/scene_data/hmi_layer_manifest.yamladdhmi/draw/keb_heading_deviation.hppeditssep/offboard/servers/scene_vis_html_template.ccedithmi/draw/draw_keb_debug.cppaddTesting/keb_heading_deviation_test.cppeditdata/config/cfg_hmi_layer_mapping.yamladdssep/offboard/servers/test_heading_diagnostics.jsedithmi/widget/pnc_mat_shared.cppeditoffboard/keb_vis_server/keb_vis_html_template.ccedithmi/draw/draw_all.cppssep/offboard/servers/scene_vis_html_template.ccef78186a4b5cda1ac989eb14077fc05504d3bdf41790585525000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 为场景网页增加搜索起终点车框开关 在图例中分别控制搜索起点和终点的车头框、挂车框及位置标记，默认保持显示。 兼容 Proto JSON 省略的零值坐标和朝向；已通过浏览器独立隐藏与恢复验证。 2026-09-28 16:52:05 +0800ef78186a4b5cda1ac989eb14077fc05504d3bdf4feat: 为场景网页增加搜索起终点车框开关editssep/offboard/servers/scene_vis_html_template.ccssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_seg_general_planner.hssep/test/coarse_search_stop_clearance_test.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.hssep/test/gpu_collision_disk_packing_test.ccssep/scenarios/imv_exit_parking_spot_planner.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/test/keb_normal_extension_test.ccssep/scenarios/imv_enter_yard_planner.hdata/config/cfg_lat_plan.cppssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.ccssep/test/bidirectional_stop_collision_test.ccreplayer/scene_data/generated/compact_scene_descriptor.pbssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/keb_optimizer/imv_keb_optimizer.hssep/test/gpu_collision_test.ccssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.ccssep/scenarios/truck_general_planner.hssep/coarse_search/gpu_context.cctasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccdocs/pnc_algorithm_replay/plan_frame_field_workflow.mdssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.hssep/keb_optimizer/keb_problem.hssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.hssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/test/CMakeLists.txttasks/plan/keb_path_optimize_task.cppssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.ccssep/coarse_search/gpu_collision_disk_packing.hssep/scenarios/two_stage_planner_composer.hdata/config/cfg_lat_plan.hppssep/scenarios/imv_enter_station_planner.hssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/scenarios/forward_collision_check_params.hssep/keb_optimizer/keb_utils.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/coarse_search/gpu_context.hssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamlssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/truck_fuzzy_reversing_planner.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/coarse_search/evaluator/gpu_collision_cost_computer.ccssep/gpu/device_types.hssep/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.hssep/scenarios/straddle_carrier_general_planner.hssep/coarse_search/multi_stage_hybrid_astar_search_engine.ccssep/scenarios/stitching_replanner.hdocs/ssep_stop_collision_extension.mdreplayer/scene_data/generated/plan_frame_descriptor.pbssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.hreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsonssep/scenarios/truck_remote_guided_escape_planner.hssep/test/keb_stop_collision_test.ccssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.hssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/scenario_planner_interface.hssep/coarse_search/evaluator/collision_cost_computer.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/legacy_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccreplayer/scene_data/config_proto_codec.cppssep/coarse_search/evaluator/forward_collision_check_lengths.hssep/scenarios/truck_accurate_reversing_planner.ccssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.ccssep/ssep_planner.ccssep/scenarios/imv_pullover_planner.htasks/plan/keb_lane_follow_path_task.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hTesting/keb_roadside_config_test.cppssep/keb_optimizer/README.mdtasks/plan/keb_utils_core.cppssep/scenarios/tractor_trailer_exit_parking_spot_planner.hssep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.hssep/coarse_search/motion_primitive.hssep/scenarios/imv_general_planner.hssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.hreplayer/scene_data/generated/config_schema_inputs.jsonssep/scenarios/truck_u_turn_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/imv_multi_segment_parking_planner.hssep/coarse_se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区分普通点与停车点的前向碰撞检查长度 为 SSEP 粗搜索、搜索后 KEB 和实时 KEB 分别配置普通点及换向/终点的前向额外长度，停车包络按驶入方向选择，并保留既有场景豁免行为。 补齐场景参数传播与实时配置回放合同，保留旧消息默认值及显式零值。修复 GPU 圆盘容量越界、长路径尾部截断和 KEB 非法几何/数量转换，拒绝无效参数而不缩小检测范围。 最终工作树验证：SSEP 229 项测试、6 例场景回归通过；RTX 4060 上 10 项 GPU 测试通过，Compute Sanitizer memcheck 报告 0 errors；主工程及实时配置入口测试通过。 2026-09-28 20:36:45 +08007e0f45d37fb930216c00fea5b70932253bc88d4dfeat: 区分普通点与停车点的前向碰撞检查长度editssep/keb_optimizer/keb_utils.cceditssep/scenarios/tractor_trailer_exit_parking_spot_planner.heditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/scenarios/two_stage_planner_composer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccadddocs/ssep_stop_collision_extension.mdeditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditreplayer/scene_data/generated/compact_scene_descriptor.pbeditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.haddssep/test/coarse_search_stop_clearance_test.cceditssep/scenarios/imv_enter_yard_planner.heditssep/coarse_search/multi_stage_hybrid_astar_search_engine.cceditssep/scenarios/truck_fuzzy_reversing_planner.heditdata/config/cfg_lat_plan.hppeditssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.heditssep/coarse_search/searcher_builders/tractor_trailer_lane_change_searcher_builder.heditTesting/keb_roadside_config_test.cppeditssep/scenarios/scenario_planner_interface.heditreplayer/scene_data/generated/plan_frame_descriptor.pbeditssep/scenarios/truck_general_planner.heditreplayer/scene_data/generated/scene_replay_api_descriptor.pbeditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.haddssep/coarse_search/evaluator/forward_collision_check_lengths.hedittasks/plan/keb_utils_core.cppeditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cceditssep/gpu/device_types.heditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.heditdata/config/cfg_lat_plan.cppaddssep/scenarios/forward_collision_check_params.heditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.haddssep/coarse_search/gpu_collision_disk_packing.heditssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cceditssep/test/ssep_planner_test.cceditssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_general_planner.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/scenarios/legacy_planner.heditssep/scenarios/tractor_trailer_lane_change_planner.heditreplayer/scene_data/config_proto_codec.cppeditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/keb_utils.heditssep/keb_optimizer/README.mdeditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_enter_parking_spot_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditreplayer/scene_data/generated/full_custom_codec_coverage_audit.yamleditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/test/keb_normal_extension_test.cceditssep/coarse_search/evaluator/trailer_collision_cost_computer.heditssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/coarse_search/searcher_builders/tractor_trailer_single_segment_parking_searcher_builder.cceditssep/coarse_search/evaluator/gpu_collision_cost_computer.cceditssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cceditssep/coarse_search/gpu_context.cceditssep/scenarios/imv_enter_station_planner.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/stitching_replanner.heditssep/scenarios/straddle_carrier_general_planner.heditssep/scenarios/truck_multi_seg_general_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.haddssep/test/gpu_collision_disk_packing_test.cceditreplayer/scene_data/generated/full_custom_cpp_member_inputs.jsoneditssep/scenarios/truck_u_turn_planner.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/motion_primitive.heditssep/ssep_planner.cceditreplayer/scene_data/generated/config_schema_inputs.jsoneditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/scenarios/imv_multi_segment_parking_planner.heditreplayer/scene_data/generated/plan_frame_encoder.cppeditproto/config.protoeditssep/coarse_search/searcher_builders/tractor_trailer_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支持拖挂车单向精确到达与可配置末端直线 在 TractorTrailerGeneral 中新增可选 ForwardPrecise 策略，沿用单向前进搜索，固定默认 3 m 的可配置尾段并校验精确终点位姿、运动学与连续车身扫掠。 增加尾段碰撞忽略开关，保留入口与此前路径检查；禁止路径库或历史拼接绕过精确到达约束。实时场景每帧保留显式尾段配置，退出策略后恢复动态距离。 补充策略、固定尾段、碰撞忽略与配置生命周期回归。津西记录验证终点 x/y、车头与挂车航向误差均为 0，完整 3 m 直线保留，独立扫掠无碰撞。 2026-09-28 20:37:11 +0800680f27a422524859d41d0c66d9c02a2c36d2e9a0feat: 支持拖挂车单向精确到达与可配置末端直线editssep/ssep_planner.cceditssep/test/keb_stop_collision_test.cceditssep/test/CMakeLists.txteditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_general_planner.heditTesting/ssep_scenario_config_lifecycle_test.cppeditssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/test/forward_precise_planner_test.ccaddssep/test/forward_precise_routing_test.cceditssep/scenarios/stitching_replanner.hadddocs/ssep_forward_precise_arrival.mdeditssep/keb_optimizer/keb_problem.cceditdata/ssep/forward_ec.cppeditssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_tables_batch.pyssep/coarse_search/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.ccssep/test/gpu_collision_test_kernel.cussep/coarse_search/evaluator/trailer_heuristic_metadata.hssep/gpu/samplers/multi_curvature_sampler.cuhssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/param_loader/param.hssep/test/gpu_collision_test.ccssep/keb_optimizer/keb_utils.ccssep/data_structures/type_definition.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/test/tractor_trailer_kinematic_weight_test.ccssep/test/gpu_collision_test_kernel.cuhssep/test/trailer_heuristic_table_test.ccssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.hssep/test/tractor_trailer_kinematic_diagnostics_test.ccssep/coarse_search/legacy_searchers/hybrid_a_star_tt.ccssep/gpu/collision/collision_checker.cuhssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/test_generate_tables_batch.pyssep/data_structures/path_utils.hfe6ed2265341e86db3400f32d2baa5bab7bab42c1790608554000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一拖挂车前置铰接点的运动学与碰撞模型 按铰接点位于后轴前方为正的定义，将 CPU/GPU 搜索、KEB 约束与验收、 路径递推统一为 +h，修正 GPU 碰撞几何并将启发式生成器版本升级为 g2。 补充独立轴心无侧滑、CPU/GPU 一致性及旧模型表拒绝测试。 验证：CPU 单测和启发表脚本通过；GPU +h 版本此前 12 项及 memcheck 通过。 原预算下 16:08:56 和旧 05:43:31 搜索失败仍保留，未放宽安全验收。 2026-09-28 23:15:54 +0800fe6ed2265341e86db3400f32d2baa5bab7bab42cfix: 统一拖挂车前置铰接点的运动学与碰撞模型editssep/keb_optimizer/keb_utils.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_tables_batch.pyeditssep/param_loader/param.heditssep/gpu/collision/collision_checker.cuheditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/test_generate_tables_batch.pyeditssep/coarse_search/evaluator/trailer_heuristic_metadata.heditssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cceditssep/coarse_search/motion_primitive_sampler/multi_curvature_motion_primitive_sampler.cceditssep/gpu/samplers/multi_curvature_sampler.cuheditssep/test/trailer_heuristic_table_test.cceditssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdeditssep/test/tractor_trailer_kinematic_weight_test.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.heditssep/test/tractor_trailer_kinematic_diagnostics_test.cceditssep/data_structures/type_definition.cceditssep/data_structures/path_utils.heditssep/test/gpu_collision_test_kernel.cuheditssep/test/gpu_collision_test.cceditssep/test/gpu_collision_test_kernel.cussep/test/tractor_trailer_kinematic_weight_test.ccssep/keb_optimizer/keb_problem.ccdabfb7aea639e328d03c840c56ff0a2f4e903c421790608563000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补齐固定尾段入口的三点曲率约束 将三点中心覆盖到固定尾段入口，保留左侧可变点对连接曲率的约束。 检查右邻点存在，跳过真实换向和全固定三元组；新增入口、换向、 全固定及普通末端边界测试，不改变最终下发曲率验收。 验证：运动学与权重 75 项、规划 230 项测试通过。 2026-09-28 23:16:03 +0800dabfb7aea639e328d03c840c56ff0a2f4e903c42fix: 补齐固定尾段入口的三点曲率约束editssep/test/tractor_trailer_kinematic_weight_test.cceditssep/keb_optimizer/keb_problem.ccssep/test/local_regression/tt_heading_cases.jsonssep/test/local_regression/tt_heading_quality.jsonssep/test/local_regression/tt_heading_quality.pyssep/keb_optimizer/tractor_trailer_kinematic_diagnostics.hssep/test/local_regression/README.mdssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/test/local_regression/test_tt_heading_quality.pyssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hdocs/ssep_hitch_model_validation.mdssep/test/local_regression/run_ssep_regression.pyssep/test/tractor_trailer_kinematic_diagnostics_test.ccssep/test/local_regression/tt_heading_manifest.tsva9134bdaec29e5e572101316101ffe33eb3ab13a1790608586000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 收录津西航向偏差场景并补充挂车几何诊断 归档 10 份原始场景，提交相对路径、来源和 SHA-256；保留原始参数和预算。 新增非等距点切向统计及输入有效性测试，角度只观察，不添加拒绝门槛。 补充挂车轴心弦向诊断及失败边日志，记录实验性细化撤回依据和剩余问题。 撤回未提交的场景归一化、新软约束和多组合重试，保持原三次细化策略。 验证：新集 9/10、旧 TT 3/4、IMV 2/2；312 项 C++ 与 38 项相关 Python 测试通过，pnc_node 编译通过。失败保留为已知问题，不跳过或扩大预算。 2026-09-28 23:16:26 +0800a9134bdaec29e5e572101316101ffe33eb3ab13atest: 收录津西航向偏差场景并补充挂车几何诊断editssep/test/tractor_trailer_kinematic_diagnostics_test.ccaddssep/test/local_regression/tt_heading_quality.pyaddssep/test/local_regression/tt_heading_cases.jsoneditssep/keb_optimizer/tractor_trailer_kinematic_diagnostics.haddssep/test/local_regression/tt_heading_quality.jsonaddssep/test/local_regression/test_tt_heading_quality.pyeditssep/scenarios/tractor_trailer_reverse_priority_parking_planner.hadddocs/ssep_hitch_model_validation.mdaddssep/test/local_regression/tt_heading_manifest.tsveditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/local_regression/run_ssep_regression.pyeditssep/test/local_regression/README.mdgithttp://159.27.114.184:8080/jenkins/user/weilikangweilikanghttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110278http://159.27.114.184:8080/jenkins/view/all/job/telediagnostic/278/