Build #1972 (Aug 4, 2026 2:31:09 PM)

1. feat_out:增加全量上传topic (details)

1. feat: 新增障碍物置信度评分 行人靠近报警 (details)
2. feat: 预警时间间隔参数化 (details)
3. feat: 合并冲突 (details)
4. feat: 新增障碍物置信度评分 行人靠近报警 (details)
5. feat: 预警时间间隔参数化 (details)
6. feat: 合并冲突 (details)
7. feat: DeadLock新的停止点在1m以内车辆不启动 (details)
8. fix: DeadLock 使用历史纵向约束判断近距离停车锁存状态 (details)
9. chore: Keb: 忽略ssep_ec中缓存的real obstacles (details)
10. fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留 (details)
11. perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效 (details)
12. fix: 远程单次直线步进END后不退出循环重回MOVE (details)
13. fix: park子状态机收普通任务卡死PARK_MOVE无法退出 (details)
14. refactor: SSEP: 移除ilqr集卡轨迹库功能 (details)
15. fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级 (details)
16. fix: Path/DiscretizedPath 空与单点场景既有隐患修复 (details)
17. feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 (details)
18. fix: 速度置信度的引入收敛到只影响行人靠近预警功能 (details)
19. fix: 格式漂移更改  配置参数更改 (details)
20. fix: revering in straight line (details)
21. fix: is_in_straight_lane = false during park state (details)
22. fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入 (details)
23. feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 (details)
24. fix: SSEP: 修复变道轨迹末端可能画龙的问题 (details)
25. chore: SSEP:  解决集卡倒车距离障碍物较近时会倒着进的问题 (details)
26. feat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景 (details)
27. feat: HMI快照按钮触发发SNAP录包(关掉决策结果保存) (details)
28. fix: 极限变道弯道tunnel沿参考线折线化, 补挂车offtracking裕量与急弯降级 (details)
29. fix: SSEP: 解决终点区域被加入close set导致无法搜到终点的问题 (details)
30. feat: SSEP: IMV新增基于pass point倒车点的多段搜索 (details)
31. build: Debug 调试信息拆到 .dwo, 链接改用 lld (details)
32. fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用 (details)
33. feat: 锁站方向判定增加终点在车后倒车分支 (details)
34. fix: 途径点匹配改按横向距离绝对值取最近中心线 (details)
35. fix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码) (details)
36. feat: 添加车辆最大曲率计算函数，优化运动学处理 (details)
37. fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用 (details)
38. fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲 (details)
39. feat: 云端轨迹下发各 lane 的剩余长度与总长度 (details)
40. feat: HMI 显示 road boundary 的 shift type (details)
41. fix:修复合并的bug (details)
42. chore: KEB: 集卡lane follow优化轨迹末状态使用软约束、调整参数 (details)
43. feat: 增加堆高机侧向吊具高度防护 (details)
44. feat: 显示障碍物朝向与速度方向 (details)
45. fix: 禁止跳过动态场桥临停约束 (details)
46. feat: 支持真石 IMV 按途经点多段停车 (details)
47. chore: SSEP: Duplicate turning-in-place points in straddle carrier scenario. (details)
48. fix: 修复直线步进指令立即中断 (details)
49. fix: 提前窄路靠边车辆绕行判定 (details)
50. fix: 防止DP搜索中断后绕行路径错误回正 (details)
51. fix: SSEP: IMVMultiSegmentParking: Use given pass point heading as heuristic search target. (details)
52. fix: 稳定动态障碍绕行边界切换 (details)
53. fix: 稳定窄路会车的 DP 采样边界 (details)
54. fix: 过滤未沿道路对齐的会车收边 (details)
55. fix: 修正 DP 动态障碍横向范围过滤 (details)
56. feat: 支持受控低速车辆超车 (details)
57. fix: 收紧快速对向会车边界 (details)
58. fix: 保持绕行路径连续性 (details)
59. fix: 修正录包触发模块标识 (details)
60. fix: 延迟普通出堆场区域切换 (details)
61. fix: 稳定任务切换期间区域状态 (details)
62. fix: serialize WBCA max cost (details)
63. fix: 低速出桥场景适配锁站安全档位 (details)
64. fix: plan from history in low speed (details)
65. fix: 修正场景规划器过早退出判断 (details)
66. fix: update WBCA for truck and imv (details)

Started by upstream project orin-module-slave32 build number 4811
originally caused by:

• Started by user wuyanjun

• master

• refs/remotes/origin/master

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• origin/rc_dev_jiningliangshangang

• origin/feat_sidepass_decider

• origin/rc_dev