Build #1553 (Mar 11, 2026 12:05:26 PM)

1. feat_out:外设命令cmd枚举调整 (details)

1. fix: add gjk (details)
2. fix: add DECELERATION. (details)
3. fix: forward_simulation bug. (details)
4. fix: lka_deviation using yard_name. (details)
5. fix: hmi load map. (details)
6. fix: deceleration state optimization. (details)
7. fix: semantic_type in replayer. (details)
8. fix: forward_simulator bug. (details)
9. fix: decision logic. (details)
10. fix: decision parameters. (details)
11. fix: update lka_deviation_region. (details)
12. fix: add deviation around stacker/dest. (details)
13. fix: wbca path length (details)
14. fix:add driving_corridor_ogm_dilate_size (details)
15. fix: boundary shift in yard. (details)
16. fix: add usef_func_after_destination_wbca_no_shift_mode. (details)
17. fix: lattice error for lon_decision deceleration. (details)
18. fix: shif out yard. (details)
19. fix: shift into&out yard (details)
20. fix: lattice error for lon_decision deceleration. (details)
21. fix: lon_decision for car. (details)
22. fix: using backward obstacle in lane changing lon_decision. (details)
23. fix: lka deviation for out_yard region. (details)
24. fix: using last_path when out_yard wbca failed. (details)
25. fix: correct imv crab mode conditions. (details)
26. fix: lka deviation through yard. (details)
27. fix: disable wbca smooth mode for seaside buffer. (details)
28. fix: extract lane_pts msg in replayer. (details)
29. fix:修复崩溃的bug (details)
30. fix:修复崩溃的bug (details)
31. refactor:优化关路禁停 (details)
32. chore: ssep: 1.增加进堆场时终点选择逻辑 - 优先选择宽阔的区域作为终点，提前把挂车甩直。2. keb_optimizer加上最后一段直线的约束 (details)
33. feat: ssep: 新增低贝位搜索模式 -- 在进入窄通道前把挂甩直。适配杨浦场景。 (details)
34. fix: max_acc = 0.5 for wbca velocity reference. (details)
35. fix: lane_pts deviation calculation. (details)
36. feat: lane_pts debug  msg. (details)
37. fix: hmi load map. (details)
38. feat_out: path_opt in replayer. (details)
39. fix: velocity profile exception. (details)
40. fix: delete history in smooth mode. (details)
41. fix:修复封路变道的bug (details)
42. fix:引桥前变道的bug (details)
43. fix:可能崩溃的bug (details)
44. fix:修复合并的bug (details)
45. fix:修复合并的bug (details)
46. fix: using maximum vehicle size in WBCA (details)
47. fix:人工对准误创建约束 (details)
48. fix: abandon  last segment in wbca. (details)
49. fix: wbca debug msg. (details)
50. fix: end_velocity for wbca calc exception. (details)
51. fix: velocity profile exception. (details)
52. fix: add wbca debug var. (details)
53. fix: add lateral acc cost. (details)
54. fix: add wbca cost and time_consuming. (details)
55. fix: add wbca cost and time_consuming. (details)
56. fix: add lateral acc cost. (details)
57. feat:添加根据定位值的倒车防护，防治对准时，跟着桥走. (details)
58. fix:修复连续普通路口搜索的bug (details)
59. fix: wbca bd expanding. (details)
60. feat:调整搜索终点位置 (details)
61. feat:堆高机作业关路重叠时，合并 (details)
62. feat:park lock下 不校验地图 (details)
63. feat:调整出堆场口的约束创建 (details)
64. fix:修复因为距离阈值，带来场景识别错误的bug (details)
65. fix:修复终点距离计算的bug (details)
66. fix:修复海润进弯道后第一个停车位停不正的bug (details)
67. fix:修复误触发open space的bug (details)
68. refactor:优化动态搜索限速 (details)
69. feat: lon_decision from SQ (details)
70. fix: add min_safe_ttc (details)
71. fix: v_min_coef = 9.9 wbca (details)
72. fix: disable dynamic and steering speed constraints (details)
73. feat:适配大港ssep (details)
74. fix:堆场口禁停异常的bug (details)
75. feat: add drving_corridor_ogm_dilate_size_in_yard (details)
76. fix: start up boundary optimization. (details)
77. fix: stacker crane wbca smooth mode thr. (details)
78. feat: low bay operation smooth (details)
79. fix: wbca smoth_mode route interval (details)
80. fix: disable smooth mode in yard. (details)
81. feat:优化绕行判断 (details)
82. feat:杨浦进堆场优化 (details)
83. fix:上引桥极限变道的bug (details)
84. feat:杨浦进堆场优化 (details)
85. feat:最近车道匹配的bug (details)
86. fix:修复连续普通路口搜索的bug (details)
87. fix:身后障碍物过滤的bug (details)
88. fix:replan逻辑的优化 (details)
89. refacor:搜索的优化 (details)
90. fix:编译的bug (details)
91. fix:重复规划的bug (details)
92. fix:出堆场，误进平滑模式的bug (details)
93. fix:优化出堆场的搜索 (details)
94. feat:翻斗角度过大停车值在bulkload场景下生效 (details)
95. fix: SSEP路径当前段匹配的bug (details)
96. fix:修复正常跟踪场景使用pjpo的bug (details)
97. fix:ssep replan崩溃的bug (details)
98. fix:完善搜索失败临时停车的功能 (details)
99. fix:修复崩溃的bug (details)
100. fix:修复太阳路口搜索失败的bug (details)
101. feat:car类型的普通路口搜索考虑边界 (details)
102. fix:修复可能崩溃的bug (details)
103. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
104. fix: start_pt from last_path. (details)
105. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
106. fix:连续载入快照崩溃的bug (details)
107. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
108. fix:董家口靠边作业的问题 (details)
109. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
110. feat:曲率超限停车优化 (details)
111. feat:travel out 没有一次规划的适配 (details)
112. fix:调整曲率超限的滤波参数 (details)
113. fix:曲率超限停车的bug (details)
114. fix:travel out 没有一次规划，状态机切换的bug (details)
115. feat:万道内pjpo路径跳变以及变道的bug修复 (details)
116. fix:解决合并代码需要重新编译的问题 (details)
117. fix:修复拼接的bug (details)
118. refactor调整切换lock的阈值 (details)
119. feat:锁站场景不膨胀尺寸 (details)
120. fix:代码合并的bug (details)
121. fix:修复崩溃的bug (details)
122. feat:进堆场边界优化 (details)
123. fix:ssep搜索失败的bug (details)
124. fix:修复出停车位ssep路径方向的bug (details)
125. fix:sweep路径的bug (details)
126. feat:界面添加障碍物类别的显示 (details)
127. feat:优化云端障碍物的赋值 (details)
128. feat:1.根据堆场的偏移信息确定堆场相对道路的为位置。2.根据堆场位置调整约束 (details)
129. feat:动态搜索考虑不可形式区域 (details)
130. feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。 (details)
131. feat: SSEP: 可视化增加地图元素显示 (details)
132. feat: add repowiki by qoder (details)
133. fix:终点在堆场出口，边界的bug (details)
134. chore: SSEP: minor updates (details)
135. fix: no_shift region around destination. (details)
136. feat:调整 hfsm status中cur lane id的逻辑 (details)
137. fix: deviation speed limit bug. (details)
138. feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。 (details)
139. Refactor: SSEP: 用aabox替换vector<double>表示search bounds (details)
140. fix: truck wbca replayer debug. (details)
141. fix: truck wbca replayer debug. (details)
142. feat:优化cur laneid的赋值 (details)
143. chore: SSEP: Improve bidirectional search (details)
144. fix: fix compile errors (details)
145. fix: using wbca failed_count to deactivate history. (details)
146. fix: merge bug. (details)
147. fix:搜索起点太远的问题 (details)
148. fix: SSEP: 解决集卡常规场景轨迹异常的问题 (details)
149. fix: cfg_static bug (details)
150. fix: replayer bug (details)
151. fix: SSEP: 修复IMV出停车位路径异常的问题 (details)
152. fix:imv进停车位双向搜索的bug (details)
153. fix:切换到idle保持状态的bug (details)
154. feat:苏溪,西联,董分 双向搜索的bug (details)
155. chore:添加gitgnore (details)
156. fix:驾驶走廊图构建的bug (details)
157. chore:删除多余的log (details)
158. feat:调整 float to half (details)
159. feat:适配新的region (details)
160. feat:终点距离的判断使用map distance (details)
161. feat:终点距离的判断使用map distance (details)
162. fix:imv进停车位双向搜索的bug (details)
163. fix:切换到idle保持状态的bug (details)
164. feat:苏溪,西联,董分 双向搜索的bug (details)
165. chore:添加gitgnore (details)
166. fix:驾驶走廊图构建的bug (details)
167. chore:删除多余的log (details)
168. feat:调整 float to half (details)
169. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
170. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
171. fix: ogm.height/width (details)
172. fix: ogm.height/width (details)
173. feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 (details)
174. chore: SSEP-GPU: 通过所有测试用例 (details)
175. chore: SSEP: gpu search 性能优化 (details)
176. chore: SSEP: 同步ssep的imv进充电桩的更新 (details)
177. feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。 (details)
178. fix: SSEP: 修复回归测试失败的场景 (details)
179. fix: SSEP: 解决集卡普通搜索画龙的问题 (details)
180. fix:修复变道过程中，更新laneid的bug (details)
181. refactor:出堆场的起始点从参考线上选取 (details)
182. feat: 添加lowbag 判断函数 (details)
183. fix: clear path_optimization_task esdf his. (details)
184. feat: SSEP: 增加万能参数接口 (details)
185. feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。 (details)
186. chore: SSEP: 改进自卸车多段倒车 (details)
187. feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 (details)
188. feat:添加clangd的配置文件 (details)
189. fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题 (details)
190. feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行 (details)
191. fix: smooth logic (details)
192. fix: SSEP: 解决进堆场画龙 (details)
193. fix:调整大谢进堆场路径 (details)
194. feat:规划路径和ssep路径不一致的问题分析 (details)
195. feat:适配clang (details)
196. chore: SSEP: 大榭只优化一次 (details)
197. refactor:适配clang编译 (details)
198. feat:赋值的bug (details)
199. fix:适配clang的bug (details)
200. fix:修复甩正点的bug (details)
201. feat:适配clang (details)
202. feat:甩正点距离适配 (details)
203. fix:修复甩正点的bug (details)
204. fix:修复路径跳变的bug (details)
205. fix: using LD v1 (details)
206. feat:适配大谢右转进堆场 (details)
207. feat:适配大谢右转进堆场 (details)
208. feat: ssep 威海多段倒车支持按键拉直功能 (details)
209. feat:适配缩小根据距离 (details)
210. feat:调整counter和进堆场障碍物考虑的条件 (details)
211. feat:单车道区分左右边界 (details)
212. fix:大谢单车道，低贝位判断的bug (details)
213. fix: del omp.h (details)
214. feat:搜索尺寸参数赋值 (details)
215. fix:车辆参数赋值错误的bug (details)
216. fix: smooth mode in yard. (details)
217. fix: smooth mode in yard. (details)
218. feat:调整counter和进堆场障碍物考虑的条件 (details)
219. feat:适配缩小根据距离 (details)
220. feat:单车道区分左右边界 (details)
221. fix:大谢单车道，低贝位判断的bug (details)
222. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 (details)
223. fix: SSEP: fix GPU search bug (details)
224. feat:优化进堆场的约束 (details)
225. feat:into 都使用双向搜索 (details)
226. feat:龙门吊位置计算的bug (details)
227. feat:into 都使用双向搜索 (details)
228. feat:龙门吊位置计算的bug (details)
229. feat:优化进堆场的约束 (details)
230. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
231. feat:适配 utrun掉头 (details)
232. chore:修复.gitignore (details)
233. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 (details)
234. fix: SSEP: fix GPU search bug (details)
235. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
236. feat:添加通过lane id 配置不绕行区域的功能 (details)
237. feat:大谢进堆场配置甩正的位置 (details)
238. feat:适配 utrun掉头 (details)
239. feat:添加通过lane id 配置不绕行区域的功能 (details)
240. feat:适配大谢右转进堆场 (details)
241. feat:适配缩小根据距离 (details)
242. feat:调整counter和进堆场障碍物考虑的条件 (details)
243. feat:单车道区分左右边界 (details)
244. fix:大谢单车道，低贝位判断的bug (details)
245. feat:优化进堆场的约束 (details)
246. feat:龙门吊位置计算的bug (details)
247. Auto stash before cherrypick of "feat:龙门吊位置计算的bug" (details)
248. chore:修复.gitignore (details)
249. feat:大谢进堆场配置甩正的位置 (details)
250. fix: SSEP: 解决gpu编译问题 (details)
251. fix: SSEP: gpu compile error (details)
252. fix:修复编译报错 (details)
253. fix:修复编译报错 (details)
254. feat:修复编译的warning (details)
255. fix: SSEP: 修复“最后一段不检测碰撞”功能遗漏的提交 (details)
256. chore: SSEP: update unit tests (details)
257. fix: SSEP: 修复地图元素"is_closed"标志位转换错误的问题 (details)
258. feat:编译warnig (details)
259. feat:锁站限速过滤 (details)
260. fix: using smooth mode when opt failed. (details)
261. fix: SSEP: 修复路径距离参考线太远的问题。 (details)
262. fix: SSEP: 修复集卡多段倒车搜索的参数配置错误 (details)
263. feat:添加忽略文件 (details)
264. fix: SSEP: 修复车道线被处理为闭合多边形的bug（太阳纸业搜索失败），修复imv 进停车位因为终点约束导致路径异常的问题。 (details)
265. feat:align过程中,拒绝直线步进 (details)
266. fix:程序启动直接搜索带来的崩溃问题 (details)
267. chore: SSEP: 改进集卡多段倒车拉直轨迹 (details)
268. chore: SSEP: 提升GPU进堆场搜索成功率 (details)
269. feat:修复搜索失败报警的等级 (details)
270. feat:编译包warning的bug (details)
271. feat:进堆场约束调整，并且调整low bay type (details)
272. fix:修复虚拟场桥低贝判断的bug (details)
273. feat:添加忽略文件 (details)
274. feat:align过程中,拒绝直线步进 (details)
275. fix:程序启动直接搜索带来的崩溃问题 (details)
276. feat:修复搜索失败报警的等级 (details)
277. feat:编译包warning的bug (details)
278. feat:进堆场约束调整，并且调整low bay type (details)
279. fix:修复虚拟场桥低贝判断的bug (details)
280. chore: ssep: 高贝位进堆场时，只在终点的道路边界侧添加约束。 (details)
281. fix:修复编译报错的bug (details)
282. fix: SSEP: 固定编译时的依赖顺序 (details)
283. fix: SSEP: 固定编译时的依赖顺序 (details)
284. fix: SSEP: 固定编译时的依赖顺序 (details)
285. chore: SSEP: 改进多段倒车拉直轨迹 (details)
286. feat:缩短跟车距离的优化 (details)
287. refactor:优化起始点的选择 (details)
288. feat:优化杨浦进单侧堆场的边界 (details)
289. feat:打开预测消息的发送 (details)
290. feat:参考线不实时刷新的bug (details)
291. feat:云端预测轨迹s赋值的bug (details)
292. fix:修复崩溃的bug (details)
293. fix:调整debug 字段 (details)
294. feat:添加进堆场的超视距障碍物 (details)
295. fix:修复起始点车辆有转角，路径异常的bug (details)
296. feat: SSEP: 增加头部不参与优化的区域设置接口。 (details)
297. fix: SSEP: 修复集卡普通搜索路径起点位于极窄的通道时路径可能画龙的问题 (details)
298. fix: using maximum speed (details)
299. fix:修复openspace 误重规划的bug (details)
300. feat: Add truck multi seg planner (details)
301. feat: SSEP: 刚性卡车搜索终点匹配从车道匹配改为参考线匹配 (details)
302. fix:极限变道 replan的bug (details)
303. refactor:删除多余的日志打印 (details)
304. fix: smooth mode bug (details)
305. fix:优化动态下码头面搜索终点选取的问题 (details)
306. refactor:优化杨浦低贝位约束 (details)
307. feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。 (details)
308. chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物 (details)
309. feat:添加 Yard Name的显示 (details)
310. feat:终点低贝位 缩小挂甩正的角度 (details)
311. feat:变道搜索搜索失败不停车 (details)
312. feat:大谢右转进堆场添加参数，适配仿真场景 (details)
313. feat:更改reuse的次数 (details)
314. fix: SSEP: 解决高贝位进堆场轨迹异常的问题 (details)
315. feat:右转进低贝位拉值角度调整 (details)
316. feat:卡车 车辆方向修改为路径方向 (details)
317. fix: SSEP: 修复集卡普通搜索启发项错误的问题 (details)
318. fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹 (details)
319. fix: SSEP: 回退集卡普通进堆场“超近道”的问题 (details)
320. feat:进堆场偏离参考线过多，不触发禁停的bug (details)
321. feat:进堆场口的限速参数独立出来 (details)
322. feat:区分堆场的偏移和场桥的偏移 (details)
323. feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。 (details)
324. feat:添加junctionid的显示 (details)
325. feat:没有岸桥碰撞的时候也打开岸桥搜索。 然后根据是否碰撞切换进入场景的距离 (details)
326. fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题 (details)
327. feat: SSEP: 非低贝位进堆场使用拉直点逻辑 (details)
328. feat:龙须点碰撞检测添加开关 (details)
329. refactor:1.调整进堆场的限速  2. 调整低贝位的距离 (details)
330. feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。 (details)
331. fix:无法三次对准的bug (details)
332. fix: SSEP: 集卡普通搜索使用更严格的车挂判断标准。防止后续优化不收敛。 (details)
333. feat:优化og点的碰撞检测 (details)
334. fix: SSEP: 修复动态搜索使用standby guideline作为参考线轨迹异常的问题 (details)
335. fix: 优化友谊关倒车路径，更符合pass point (details)
336. feat:1. ogm精细碰撞检测添加开关2. ogm高度 分层 添加更多层3.进堆场过程中，xx重新规划，扩展边界，解决pjpo求解失败的问题4.添加进堆场虚拟停止线附近的限速 (details)
337. feat:bulk场景判断的距离阈值调整成255米 (details)
338. feat:单侧堆场默认左侧放箱子 (details)
339. feat:进堆场 不是低贝位i的时候取消外侧的约束 (details)
340. fix: 优化友谊关倒车路径，更符合pass point (details)
341. fix: SSEP: 优化集卡非低贝位进堆场路径。全路径开启keb优化+终点扰动。恢复上个版本可以“小角度斜着进堆场”的特性。 (details)
342. fix: SSEP: fix typo (details)
343. feat:优化og的处理 (details)
344. fix:修复绘制的bug (details)
345. fix: SSEP: 提升远距离绕桥腿成功率 (details)
346. feat:杨浦适配B场 (details)
347. feat: 1. 绕跷腿搜索标志位 2.右转进堆场的强制用约束的标志位 (details)
348. feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 (details)
349. chore: mionr update (details)
350. fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug (details)
351. fix:3 4 阶段对准时,不能切换creep的bug (details)
352. feat:og碰撞的优化 (details)
353. feat:进堆场的优化 (details)
354. feat:关闭debug信息 (details)
355. feat:junction弯道区间计算的bug (details)
356. feat:纵一路边上的转场临停修改判断阈值 (details)
357. fix:修复误变道的问题 (details)
358. feat:搜索的时候是否考虑静态障碍物添加开开关 (details)
359. fix:龙须点处理的bug (details)
360. fix:修复龙须点处理的bug (details)
361. feat:调整单车道堆场的约束 (details)
362. fix:没有路径，并且在弯道前，ssep无法搜索的bug (details)
363. feat:优化场桥防护 (details)
364. fix: lattice wbca velocity reference bug. (details)
365. fix: send 50m path to control in bulk state. (details)
366. fix: delete submodules (details)
367. fix: serailize params for wbca (details)
368. fix: merge bug (details)
369. fix: wbca params serialization bug (details)
370. fix: wbca params serialization bug (details)
371. fix: Trajectory MatchByt bug. (details)
372. fix: build bug (details)
373. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
374. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
375. fix: wbca path fluctuation problem. (details)
376. fix: add wbca min_start_velocity (details)
377. fix: wbca crab mode condition opt. (details)
378. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
379. fix:进充电桩场景切换的bug (details)
380. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
381. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
382. fix:修复误进入openspace的bug (details)
383. feat: add smooth_mode_wbca_params (details)
384. fix: smooth_mode_wbca_params bug (details)
385. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
386. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
387. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
388. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
389. fix: open space ssep env bug. (details)
390. feat: ignore sending masked box to guarden under large lateral deviation. (details)

Started by upstream project orin-module-slave32 build number 3435
originally caused by:

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• origin/rc_dev_yantaigunzhuang

• origin/feat_straddle_v2

• origin/rc_dev