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2026-01-06 10:38:40 +08004de4986bc8bb6959f1d31983148bf959dd76640dfix: 统一pnc_debug_msg/ObserverDebug.msgeditpnc_debug_msgs/msg/ObserverDebug.msg
- comm_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.msg
- comm_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.msg
- align_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.msg
- align_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addalign_msgs/msg/TargetCarStatus.msgeditalign_msgs/CMakeLists.txt
- comm_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.msg
- comm_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.msg
- tos_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edittos_msgs/msg/PeripheralCmd.msgaddtmp/aha/dconf/useradd.marscode/deviceInfo.json
- comm_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.msg
- peripheral_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.msg
- comm_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.msg
- guardian_msgs/msg/ParallelObstacleReport.msgguardian_msgs/msg/ParallelObstacle.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addguardian_msgs/msg/ParallelObstacleReport.msgeditguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msg
- align_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.msg
- align_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.msg
- guardian_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editguardian_msgs/CMakeLists.txtaddguardian_msgs/msg/ParallelObstacle.msgaddguardian_msgs/msg/ParallelObstacleReport.msg
- comm_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.msg
- ads_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.msg
- align_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.msg
git- data/map/envelop/map_envelops.cppf2465adad2f30214486ed6c3cc446b6e77660e9f1782471717000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofix:内存问题修复测试
2026-06-26 04:01:57 -0700f2465adad2f30214486ed6c3cc446b6e77660e9ffix:内存问题修复测试editdata/map/envelop/map_envelops.cpp
- data/map/envelop/map_envelops.cpp8d8fc8fe71f58f96d192b653849d57121839fec61782473669000http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohaoxiangtao@senior.autofix:内存问题修复测试
2026-06-26 04:34:29 -07008d8fc8fe71f58f96d192b653849d57121839fec6fix:内存问题修复测试editdata/map/envelop/map_envelops.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.h4087e2163c2b30f8fb152efde2d0612718dbb0dc1782799227000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: 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。
2026-06-30 14:00:27 +08004087e2163c2b30f8fb152efde2d0612718dbb0dcfix: 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。editssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- offboard/keb_path_opt_cli/keb_scene_converter.ccssep/keb_optimizer/keb_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccdata/config/cfg_lat_plan.cpptasks/plan/keb_path_optimize_task.cppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_utils_core.cppf7249bacf26ce9e5f0c547161e6b20c21212f0971782916282000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题
2026-07-01 22:31:22 +0800f7249bacf26ce9e5f0c547161e6b20c21212f097fix: Keb: 改进低贝位进堆场时距离上层障碍物较近的问题editssep/keb_optimizer/keb_utils.cceditdata/config/cfg_lat_plan.cppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditalgorithm/plan/keb_optimizer.cpp
- data/plan/cloud_trajectory.hppa792e8252fb9ffb453c1c3472598c59b44671b511782956389000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示
2026-07-02 09:39:49 +0800a792e8252fb9ffb453c1c3472598c59b44671b51feat: 更新 CloudTrajectory 中 curr_time_ 的初始化方式为当前时间的纳秒表示editdata/plan/cloud_trajectory.hpp
- algorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.hppTesting/pjpo_case_test.cppmath/piecewise_jerk/piecewise_jerk_path_problem.hppmath/piecewise_jerk/piecewise_jerk_problem.cppalgorithm/plan/pjpo.hppmath/piecewise_jerk/piecewise_jerk_path_problem.cpptasks/plan/pjpo_task.cppb7dbb9a609c445bef1a6e6740c93f76b85c4565b1782956416000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: PJPO 增加软曲率约束并优化起点处理
- piecewise_jerk 支持软曲率约束(kappa_ref/kappa_max/slack)及 all_soft 回退
- pjpo 起点 init_dl/init_ddl 限幅收紧, 消除起点曲率尖峰与外扩自激
- 补充 pjpo 曲率约束相关测试
- 清理 PJPO 调试 trace 日志
2026-07-02 09:40:16 +0800b7dbb9a609c445bef1a6e6740c93f76b85c4565bfeat: PJPO 增加软曲率约束并优化起点处理editmath/piecewise_jerk/piecewise_jerk_problem.cppeditalgorithm/plan/pjpo.hppeditmath/piecewise_jerk/piecewise_jerk_path_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditTesting/pjpo_case_test.cppeditalgorithm/plan/pjpo.cppedittasks/plan/pjpo_task.cppeditmath/piecewise_jerk/piecewise_jerk_path_problem.hpp
- replayer/replayer_data_process/replayer_data_process.cpp965d7b2a75bafa32202b4c386c097d9f3dd662f81782956482000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理
2026-07-02 09:41:22 +0800965d7b2a75bafa32202b4c386c097d9f3dd662f8feat: 在 HandleMap 中添加地图包络和中心线信息的条件判断，优化路径处理editreplayer/replayer_data_process/replayer_data_process.cpp
- tasks/deciders/lat_decider/path_bounds_decider.cpp89119eedda78c243c52dcf28b819bcaf596d458a1782956508000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算
2026-07-02 09:41:48 +080089119eedda78c243c52dcf28b819bcaf596d458afeat: 在 GetBoundaryFromKinetics 中添加场景管理器判断，优化路径边界计算edittasks/deciders/lat_decider/path_bounds_decider.cpp
- data/plan/start_point_data.cpp93918e80527f8f7b718da6994ce59587e4087a241782956524000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理
2026-07-02 09:42:04 +080093918e80527f8f7b718da6994ce59587e4087a24feat: 在 GetLatPoint 中添加起点曲率限制，优化车辆运动学处理editdata/plan/start_point_data.cpp
- data/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/plan/switch_data.cpp2881e36fca41bd9ae4d967d26eddb4d6117dd43d1782956536000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合
- CheckObjSafe 对速度足够的动态障碍物, 要求自车比其晚到冲突点至少 dt_gate
(跟在其后变道), 过滤"障碍物未来才驶入路径"的纯空间重叠误判
- 障碍物过慢(< obj_min_v_kmh)时退回空间包络判定
- 新增开关 use_func_lane_change_st_time_gate_ 及 dt_gate / obj_min_v 阈值
2026-07-02 09:42:16 +08002881e36fca41bd9ae4d967d26eddb4d6117dd43dfeat: 变道安全动态障碍物碰撞判定引入 s-t 时空耦合editdata/config/cfg_env_const.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_func_sw.cppeditdata/plan/switch_data.cpp
- data/plan/switch_data.hppdata/obstacle/ogm.hpphmi/draw/draw_area.hppdata/obstacle/ogm.cpphmi/draw/draw_area.cppdata/plan/switch_data.cppdf8ea0ed18c380880597450188436adbaf42b3e61782956547000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 变道 OGM 碰撞检测点 HMI 标红可视化
CheckOgmSafe 收集落进安全检测区的 OGM 占用栅格点存入 switch_data(不序列化),
DrawUnsafeArea 单独用 DrawOgmCrashPoints 标红, 直观显示哪块碰撞导致变道不安全。
upper/underlying 两层都判断, 下层碰撞时短路跳过上层。
2026-07-02 09:42:27 +0800df8ea0ed18c380880597450188436adbaf42b3e6feat: 变道 OGM 碰撞检测点 HMI 标红可视化editdata/obstacle/ogm.cppeditdata/plan/switch_data.hppeditdata/obstacle/ogm.hppeditdata/plan/switch_data.cppedithmi/draw/draw_area.cppedithmi/draw/draw_area.hpp
- data/config/cfg_safe_const.hppdata/config/cfg_safe_const.cppdata/plan/switch_data.cpp8acf76576fdb77b153e5472b588d07b7690127971782956552000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值
新增 lock_station_lane_change_safety_check_distance_buffer_ 配置项,
锁站(NEAR_SEASIDE_PASSING_PT)变道时用该 buffer 替代固定 +5.0;
修正 obstacle_near_speed_lower_thr_ 误写成 upper_thr 的赋值 bug。
2026-07-02 09:42:32 +08008acf76576fdb77b153e5472b588d07b769012797feat: 锁站变道安全校验距离引入可配 buffer 并修正近距障碍物低速阈值editdata/config/cfg_safe_const.hppeditdata/plan/switch_data.cppeditdata/config/cfg_safe_const.cpp
- tasks/plan/pjpo_task.cppdata/plan/smooth_data.cpptasks/plan/pjpo_task.hpp93284b6b898f83da2fb2d3be5561dc8d2826f7701782956567000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑
2026-07-02 09:42:47 +080093284b6b898f83da2fb2d3be5561dc8d2826f770feat: 添加 UpdateAllSoftFallback 方法以处理软回退逻辑edittasks/plan/pjpo_task.cppeditdata/plan/smooth_data.cppedittasks/plan/pjpo_task.hpp
- algorithm/plan/keb_optimizer.cpp92d0e0be4b06853615aeeb5832cbe87e382faa681782986352000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径
2026-07-02 17:59:12 +080092d0e0be4b06853615aeeb5832cbe87e382faa68fix: Keb: 参考线发生变化时禁用warm start，调用cold start重新优化路径editalgorithm/plan/keb_optimizer.cpp
- data/config/cfg_env_const.hppdata/ssep/into_yard_junction_ec.hppdata/config/cfg_env_const.cppdata/other/flow_control.cppsink/ros_sink_pnc_status.cppdata/ssep/into_yard_junction_ec.cpp2a07415f0d6a3151c058882dfa307f69bb6cc1361782990203000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离
2026-07-02 19:03:23 +08002a07415f0d6a3151c058882dfa307f69bb6cc136feat: 堆场偏移区配置改用 YardType 枚举, 新增入口高处障碍物类型并延长拉直距离editdata/config/cfg_env_const.hppeditdata/ssep/into_yard_junction_ec.hppeditdata/other/flow_control.cppeditsink/ros_sink_pnc_status.cppeditdata/config/cfg_env_const.cppeditdata/ssep/into_yard_junction_ec.cpp
- data/ssep/open_space_ec.cppdata/ssep/online_region_contour_creator.cppdata/ssep/online_region_contour_creator.hppdata/ssep/into_yard_junction_ec.cpp532faa6b508d1177a3642e663079cabd4114de4d1782990208000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域
- 新增 OnlineRegionContourCreator::AddStartPostureBoxes 静态函数, 集中生成膨胀后的车头(及车挂)框
- open_space_ec 起点框内联逻辑改为调用该函数
- into_yard_junction_ec 构建 plan_region_contour 时合并起点框, 并集失败则保持原轮廓兜底
2026-07-02 19:03:28 +0800532faa6b508d1177a3642e663079cabd4114de4d重构: 抽取搜索起点车头车挂框构造为静态函数并复用于入堆场区域editdata/ssep/online_region_contour_creator.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/online_region_contour_creator.hppeditdata/ssep/into_yard_junction_ec.cpp
- scenarios/stage.cppcc74e335904e25e57018da0c2a3a0bc6c7f690571782990215000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 group
2026-07-02 19:03:35 +0800cc74e335904e25e57018da0c2a3a0bc6c7f69057修复任务选择器组内多条件匹配语义: AND 改为 OR, 命中任一条件即选中该 groupeditscenarios/stage.cpp
- tasks/plan/keb_lane_follow_path_task.cppa7c5fb041881154e18f4df7f2b1605ce023db3c01782993154000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果
2026-07-02 19:52:34 +0800a7c5fb041881154e18f4df7f2b1605ce023db3c0feat:调整参考线权重，从 0.0 修改为 3.0，以增强路径优化效果edittasks/plan/keb_lane_follow_path_task.cpp
- data/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cpp2bbd2fb7ee835a3c61b859336e93797bc7d40e101783005292000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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
2026-07-02 23:14:52 +08002bbd2fb7ee835a3c61b859336e93797bc7d40e10场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_bt.cppeditdata/scenario/scenario_region_condition.cpp
- data/scenario/scenario_planner_action.cpp76b17b6698b320a0995125d13bbf32f3eb24810f1783005297000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner
2026-07-02 23:14:57 +080076b17b6698b320a0995125d13bbf32f3eb24810fBTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.cpp
- data/scenario/scenario_region_condition.cppdata/scenario/scenario_region_bt.cpp682605ae5942205627501f18eef3ba732dd2ee3c1783005381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com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
2026-07-02 23:16:21 +0800682605ae5942205627501f18eef3ba732dd2ee3c场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判editdata/scenario/scenario_region_condition.cppeditdata/scenario/scenario_region_bt.cpp
- data/scenario/scenario_planner_action.cppd34f7fb6b1983910d947ca2f83ee585ab76f24471783005386000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comBTActRunPlanner: 进入海侧路口区域时退出常规 planner
2026-07-02 23:16:26 +0800d34f7fb6b1983910d947ca2f83ee585ab76f2447BTActRunPlanner: 进入海侧路口区域时退出常规 plannereditdata/scenario/scenario_planner_action.cpp
- ssep/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/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/scenarios/planner_utils.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_single_segment_parking_planner.hf354f26aed1119909f4b5eee277a8dfb1c7fe9bd1783073951000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题
2026-07-03 18:19:11 +0800f354f26aed1119909f4b5eee277a8dfb1c7fe9bdfeat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题editssep/scenarios/planner_utils.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.heditssep/scenarios/scenario_planner_factory.h
- algorithm/wbca/path_optimization/imv_path_optimization.cpp15f59cf516b4828241ba12039ef21f8630e7f54e1783170353000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca crash bug
2026-07-04 21:05:53 +080015f59cf516b4828241ba12039ef21f8630e7f54efix: imv wbca crash bugeditalgorithm/wbca/path_optimization/imv_path_optimization.cpp
- tasks/plan/path_optimization_task.cppd64790461ff1e9a618695925dd44c64316001ae41783304843000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable wbca during esdf_map = nullptr
2026-07-06 10:27:23 +0800d64790461ff1e9a618695925dd44c64316001ae4fix: disable wbca during esdf_map = nullptredittasks/plan/path_optimization_task.cpp
- tasks/plan/path_optimization_task.cpp41cc53088e5d158cc575af869afd1cc111c227201783305020000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable wbca during esdf_map = nullptr
2026-07-06 10:30:20 +080041cc53088e5d158cc575af869afd1cc111c22720fix: disable wbca during esdf_map = nullptredittasks/plan/path_optimization_task.cpp
- data/config/cfg_func_sw.cpptasks/plan/keb_utils.cppdata/config/cfg_func_sw.hppe4a421088e6b6f7aee72e04c2e231295c8da14801783312953000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comKEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避
碰撞检测不需要路边点, 故 prepare 阶段未写入 OGM 栅格。KEB 在栅格副本上
补画下层路边采样点再抽取轮廓线, 不污染碰撞用栅格。新增开关
use_func_keb_add_roadside_segments_(默认 false), 仅下层补充。
2026-07-06 12:42:33 +0800e4a421088e6b6f7aee72e04c2e231295c8da1480KEB 补充路边点云(TYPE_ROADSIDE)作为障碍规避editdata/config/cfg_func_sw.hppedittasks/plan/keb_utils.cppeditdata/config/cfg_func_sw.cpp
- ssep/scenarios/tractor_trailer_enter_yard_planner.hc3897b9bdb5c83252532e20914509c7d65661fe71783318704000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题
2026-07-06 14:18:24 +0800c3897b9bdb5c83252532e20914509c7d65661fe7fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题editssep/scenarios/tractor_trailer_enter_yard_planner.h
- algorithm/wbca/wbca_manager.cppalgorithm/wbca/linear_velocity_generator.cppd39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf31783342788000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: unexpected route inverval
2026-07-06 20:59:48 +0800d39fe1e9a542c1ba66306f5a0dc7c51e22c8cbf3fix: unexpected route invervaleditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/linear_velocity_generator.cpp
- data/ssep/forward_ec.cppbc6d86213c1ff15b548abf3dd915b73ea8aa7e571783390979000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 拖挂进堆场无 passing 途径点时改用单段倒车
TT 进堆场场景下, 当搜索不到 passing 途径点
(is_have_search_passing_pt_ 为 false)时, 改用
kTractorTrailerSingleSegmentParking 单段倒车规划;
并恢复 ScenarioPlannerFactory 中单段倒车 planner 的真正构造
(原先复用 MultiSegmentParkingPlanner)。
2026-07-07 10:22:59 +0800bc6d86213c1ff15b548abf3dd915b73ea8aa7e57feat: 拖挂进堆场无 passing 途径点时改用单段倒车editdata/ssep/forward_ec.cpp
- data/ssep/forward_ec.cpp4fc23d7d0b4236fcac78128c81fc8220c1eb7d481783391003000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索
2026-07-07 10:23:23 +08004fc23d7d0b4236fcac78128c81fc8220c1eb7d48feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索editdata/ssep/forward_ec.cpp
- ssep/scenarios/tractor_trailer_single_segment_parking_planner.h469a052c0e3a1b6d6c23b5bfad6b5090dbebaf931783410693000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹
2026-07-07 15:51:33 +0800469a052c0e3a1b6d6c23b5bfad6b5090dbebaf93fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.h
- ssep/keb_optimizer/imv_keb_optimizer.cca22277a45eff23c403063d58134dbdbd99da90ca1783416089000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: Keb: 优化imv避障效果（回退sdf loss）
2026-07-07 17:21:29 +0800a22277a45eff23c403063d58134dbdbd99da90cachore: Keb: 优化imv避障效果（回退sdf loss）editssep/keb_optimizer/imv_keb_optimizer.cc
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h3dd0f964b8c77d1b46a674becce1734c72e060541783422965000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束
2026-07-07 19:16:05 +08003dd0f964b8c77d1b46a674becce1734c72e06054chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- data/wbca/wbca_data.hppalgorithm/wbca/wbca_manager.cpptasks/plan/path_optimization_task.cppd08cbc8be096ae820b866a3dde2d1771342a3b631783431930000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: warm-start bug
2026-07-07 21:45:30 +0800d08cbc8be096ae820b866a3dde2d1771342a3b63fix: warm-start bugedittasks/plan/path_optimization_task.cppeditdata/wbca/wbca_data.hppeditalgorithm/wbca/wbca_manager.cpp
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h21a0e06624f66dc6703d77bd676c5703caf4fc771783499415000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑
2026-07-08 16:30:15 +080021a0e06624f66dc6703d77bd676c5703caf4fc77feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- tasks/deciders/other_decider/replan_decider.hpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppa0b56a44d0f53a5e1b9edc91b6f6b3dc43448b841783515555000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态
- ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划
- SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态
- BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数
2026-07-08 20:59:15 +0800a0b56a44d0f53a5e1b9edc91b6f6b3dc43448b84桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hpp
- scenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppscenarios/parking_scenario/parking_move_stage.cppscenarios/parking_scenario/parking_prepare_stage.cppscenarios/lane_change_scenario/lane_change_prepare_stage.cppscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp1b62851c5b8b3657e8f36f0a6907e07d57a6b74b1783515585000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks
任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类;
其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行,
以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage
2026-07-08 20:59:45 +08001b62851c5b8b3657e8f36f0a6907e07d57a6b74brefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/stage.hppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
- data/ssep/bridge_junction_ec.cppc990680486ac0315a6dc372a54824e66f9cf4b7a1783515591000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索
ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false,
改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_,
日志同步改为 search from ego pose
2026-07-08 20:59:51 +0800c990680486ac0315a6dc372a54824e66f9cf4b7a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cpp
- tasks/plan/keb_lane_follow_path_task.cppoffboard/keb_path_opt_cli/keb_scene_converter.cc4d3241f90aeda494cce7064f1ee3afdfa69911031783578051000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 调整避障参数，解决距离障碍物距离太近的问题
2026-07-09 14:20:51 +08004d3241f90aeda494cce7064f1ee3afdfa6991103fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题edittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_scene_converter.cc
- ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h705d55953bfa28c60e7c32205a25fce0642c40881783590402000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: remove strcat
2026-07-09 17:46:42 +0800705d55953bfa28c60e7c32205a25fce0642c4088fix: SSEP: remove strcateditssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
- data/map/pnc_map/routing_extension/routing_data.cpp4b940c29b51dd847bea5729ac85f01c9b5837b2d1783591714000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: destination distance exception
2026-07-09 18:08:34 +08004b940c29b51dd847bea5729ac85f01c9b5837b2dfix: destination distance exceptioneditdata/map/pnc_map/routing_extension/routing_data.cpp
- data/obstacle/block.cpp72cb8313bcdb67e98625e34abb90fc48dac09efb1783911040000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)
2026-07-13 10:50:40 +080072cb8313bcdb67e98625e34abb90fc48dac09efbblock: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID)editdata/obstacle/block.cpp
- algorithm/wbca/imv_wbca_manager.cpp753c91b3c2828e366752290b615b03dd2503db2b1784024451000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: imv wbca smooth mode bug
2026-07-14 18:20:51 +0800753c91b3c2828e366752290b615b03dd2503db2bfix: imv wbca smooth mode bugeditalgorithm/wbca/imv_wbca_manager.cpp
- data/ssep/into_yard_junction_ec.cppdb9852088a8685659c5d2a514467f0c3a043a94d1784029949000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框
2026-07-14 19:52:29 +0800db9852088a8685659c5d2a514467f0c3a043a94dssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框editdata/ssep/into_yard_junction_ec.cpp
- data/ssep/open_space_ec.cppdata/map/reference/reference_line.cppdata/map/reference/reference_line.hpp334f7e6b591f70224a2ce59a9bf77c8e5f92ec641784029959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:出堆场 直接open sapce上码头面搜索起点不合适的bug
2026-07-14 19:52:39 +0800334f7e6b591f70224a2ce59a9bf77c8e5f92ec64fix:出堆场 直接open sapce上码头面搜索起点不合适的bugeditdata/ssep/open_space_ec.cppeditdata/map/reference/reference_line.cppeditdata/map/reference/reference_line.hpp
- data/ssep/normal_junction_ec.cpp2b8475bdb14b662acfee2cb39481684d3113ae6a1784029967000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comssep: 删除路口终点位姿的车头点框内回退校验
终点区域已扩大且终点支持动态调整, 该直矩形点包含校验失去保护意义,
且在出口车道大曲率时误杀(回退到停止线得到未拉直的终点位姿)。
2026-07-14 19:52:47 +08002b8475bdb14b662acfee2cb39481684d3113ae6assep: 删除路口终点位姿的车头点框内回退校验editdata/ssep/normal_junction_ec.cpp
- ssep/maps/ogm.cc8328dcf4d1ffd9899770b804a78dc318a6700d421784029973000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:删除打印的日志
2026-07-14 19:52:53 +08008328dcf4d1ffd9899770b804a78dc318a6700d42feat:删除打印的日志editssep/maps/ogm.cc
- data/config/cfg_func_sw.cppdce71e2b8c063039797da73999b2986ad4e6f52d1784029978000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 禁用前向搜索设置中的 theta 功能
2026-07-14 19:52:58 +0800dce71e2b8c063039797da73999b2986ad4e6f52dfix: 禁用前向搜索设置中的 theta 功能editdata/config/cfg_func_sw.cpp
- algorithm/wbca/wbca_manager.cppalgorithm/wbca/wbca_manager.hppalgorithm/wbca/imv_wbca_manager.cpp7a2e36942a4c2b3bf93b0d98d1a6340e31595aeb1784033369000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca direct link mode bug
2026-07-14 20:49:29 +08007a2e36942a4c2b3bf93b0d98d1a6340e31595aebfix: wbca direct link mode bugeditalgorithm/wbca/wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditalgorithm/wbca/imv_wbca_manager.cpp
- algorithm/wbca/linear_velocity_generator.cppf85431cb05e0e7c164cf3be366a708c89e7956401784035722000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wbca velocity profile bug
2026-07-14 21:28:42 +0800f85431cb05e0e7c164cf3be366a708c89e795640fix: wbca velocity profile bugeditalgorithm/wbca/linear_velocity_generator.cpp
- data/ssep/ssep_ec.hppdata/ssep/ssep_ec.cppdata/vehicle/cloud_pnc_config.hpp360e40ff32048f35c5c75bcd9f4be93ab67685101784088332000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 适配云端access line
2026-07-15 12:05:32 +0800360e40ff32048f35c5c75bcd9f4be93ab6768510feat: 适配云端access lineeditdata/vehicle/cloud_pnc_config.hppeditdata/ssep/ssep_ec.hppeditdata/ssep/ssep_ec.cpp
- algorithm/plan/keb_optimizer.cppe2f0c15e9a21b38099c5448c01e4b4e244f4d3861784113716000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: Keb: 修复Warm start频繁失败的问题
2026-07-15 19:08:36 +0800e2f0c15e9a21b38099c5448c01e4b4e244f4d386fix: Keb: 修复Warm start频繁失败的问题editalgorithm/plan/keb_optimizer.cpp
- data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp211ee4a470c1d5d83dafe07ea65bb65fef432a7d1784186340000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段
2026-07-16 15:19:00 +0800211ee4a470c1d5d83dafe07ea65bb65fef432a7dfix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段editdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
- plan/prepare/prepare_ogm.cppplan/prepare/prepare_ogm.hpp037d24ad730656b6b84ce85ecd9ff179d1e6286f1784186346000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: OGM精细碰撞采样点分级去重, 控制序列化体积
精细碰撞开启时采样点不再全量保留:
- 引导线路径带(半径12m, 1m粗块掩码)内按1/4 cell子格去重,
位置误差上界约3.5cm, 每cell至多16点
- 路径带外及无引导线时退化为每cell仅保留首点(等同旧抽稀密度)
- 栅格写入逻辑不变, 仅瘦身采样点集; 精细开关关闭时行为不变
- 顺手收拢龙须/上下层四处重复写入分支为AddPoint
2026-07-16 15:19:06 +0800037d24ad730656b6b84ce85ecd9ff179d1e6286fperf: OGM精细碰撞采样点分级去重, 控制序列化体积editplan/prepare/prepare_ogm.cppeditplan/prepare/prepare_ogm.hpp
- data/vehicle/lock_station_data.cpp50a557ba5ed0e80690bfb2284a4aed695e47745e1784186360000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出
2026-07-16 15:19:20 +080050a557ba5ed0e80690bfb2284a4aed695e47745efix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出editdata/vehicle/lock_station_data.cpp
githttp://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/zhaojianfeng2zhaojianfeng2http://159.27.114.184:8080/jenkins/user/haoxiangtaohaoxiangtaohttp://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqing247http://159.27.114.184:8080/jenkins/view/x86/job/telediagnostic/247/