Changes

#1253 (Nov 7, 2025 3:05:07 PM)

1. Update yiwu-suxi-submodule.jenkinsfile — weilikang / detail
2. Update yiwu-suxi-submodule.jenkinsfile — weilikang / detail
3. Update yiwu-suxi-submodule.jenkinsfile — weilikang / detail
4. Update daxie-submodule.jenkinsfile — weilikang / detail
5. Update yiwu-suxi-submodule.jenkinsfile — weilikang / detail
6. Update daxie-submodule.jenkinsfile — weilikang / detail
7. Update daxie-submodule.jenkinsfile — weilikang / detail
8. Update daxie-submodule.jenkinsfile — weilikang / detail

#1253 (Nov 7, 2025 3:05:07 PM)

1. fix:临时修复重搜索的bug — wuyanjun110 / detail

#1252 (Nov 7, 2025 12:03:57 AM)

1. feat:添加obj障碍物的跟车距离 — wuyanjun110 / detail
2. refactor:优化跟车距离 — wuyanjun110 / detail

#1251 (Nov 6, 2025 11:09:56 PM)

1. fix:修复终点距离计算的bug — wuyanjun110 / detail
2. chore(format):格式 — wuyanjun110 / detail
3. chore: 适配remote guide line变更 — tangwenqing / detail
4. fix:修复海润进弯道后第一个停车位停不正的bug — wuyanjun110 / detail
5. fix:修复误触发open space的bug — wuyanjun110 / detail
6. feat:执行remote后进入stop auto — wuyanjun110 / detail
7. feat:添加obj障碍物的跟车距离 — wuyanjun110 / detail
8. refactor:优化bulk场景的限速 — wuyanjun110 / detail
9. fix:修复park lock 切换 park out， 不重搜索的bug — wuyanjun110 / detail
10. fix:修复极限变道时没有应用变道路径，然后状态机切换的bug — wuyanjun110 / detail
11. refactor:优化跟车距离 — wuyanjun110 / detail

#1250 (Nov 6, 2025 4:49:36 PM)

1. feat:park lock下 不校验地图 — wuyanjun110 / detail
2. feat:调整出堆场口的约束创建 — wuyanjun110 / detail
3. fix:修复因为距离阈值，带来场景识别错误的bug — wuyanjun110 / detail
4. fix:修复终点距离计算的bug — wuyanjun110 / detail
5. fix:修复海润进弯道后第一个停车位停不正的bug — wuyanjun110 / detail
6. fix:修复误触发open space的bug — wuyanjun110 / detail

#1249 (Nov 6, 2025 3:54:29 PM)

1. fix: delete log. — chenran / detail
2. fix: delete log — chenran / detail

#1248 (Nov 6, 2025 3:02:48 PM)

1. fix: SSEP: 修复IMV进充电桩方向错误的问题 — tangwenqing / detail

#1247 (Nov 6, 2025 2:08:57 PM)

1. feat: WBCA serialization for debug. — chenran / detail
2. fix: using history_pts for lattice velocity reference. — chenran / detail
3. fix: use_func_use_wbca_speed_limit = true — chenran / detail
4. fix: lateral acceleration parameters. — chenran / detail
5. fix: ComputeLonGuideVelFromLatAcc — chenran / detail
6. fix: add min_turn_radius — chenran / detail
7. fix: add lattice_velocity_reference_mode — chenran / detail
8. fix: disable wbca debug mode. — chenran / detail
9. fix: max_lat_acc in wbca params — chenran / detail
10. fix_out: lat_acc_baed ref vel cal error. add debug msg. — chenran / detail
11. fix: bug — chenran / detail
12. fix: disable wbca_debug mode. — chenran / detail
13. fix: delete log. — chenran / detail
14. fix: v_min_coef = 9.9 wbca — chenran / detail

#1245 (Nov 6, 2025 1:13:52 PM)

1. fix:修复误触发open space的bug — wuyanjun110 / detail

#1244 (Nov 6, 2025 12:22:27 PM)

1. fix: disable collision cost in lane change mode. — 5081703.cr / detail

#1243 (Nov 6, 2025 10:44:13 AM)

1. feat_out:添加满都拉专用通信结构 — zhaojianfeng2 / detail
2. feat_out:字段修改 — zhaojianfeng2 / detail
3. feat_out:增加编队状态消息 — zhaojianfeng2 / detail
4. feat_out:按照上智联新协议修改 — zhaojianfeng2 / detail
5. fix_out: traffic msg — hongjinjin / detail
6. feat_out:回退rc_dev的合并 — zhaojianfeng2 / detail
7. fix_out: add traffic msg — hongjinjin / detail
8. feat:平行驾驶消息添加新字段 — wuyanjun110 / detail
9. Publish og line segments — tangwenqing / detail
10. feat_out:故障码增加关联task_id — zhaojianfeng2 / detail
11. feat_out:溯源消息增加task_id — zhaojianfeng2 / detail
12. feat:添加货物宽度的标志位 — wuyanjun110 / detail
13. feat:添加货物重量 — wuyanjun110 / detail
14. feat_out:编队定位消息增加字段 — zhaojianfeng2 / detail
15. feat_out: TosTask中block_crane_id类型由uint8变更为string — guolindong / detail
16. feat:添加cargo type 标志位 — wuyanjun110 / detail
17. chore: 重新定义Og line segment msg — tangwenqing / detail
18. feat:添加变道状态机 — wuyanjun110 / detail
19. 感知堆场obj输出消息增加heading,id,配对id和速度字段. — tangxiao / detail
20. feat:变量类型的bug — wuyanjun110 / detail
21. feat:添加pnc 状态的接口 — wuyanjun110 / detail
22. feat_out:心跳增加停车原因 — zhaojianfeng2 / detail
23. feat:添加忽略身后og点的标志位 — wuyanjun110 / detail
24. feat:添加忽略身后og点的标志位 — wuyanjun110 / detail
25. feat:添加忽略身后og点的标志位 — wuyanjun110 / detail
26. feat:添加绕行状态机 — wuyanjun110 / detail
27. feat_out:增加上报字段 — zhaojianfeng2 / detail
28. feat_out:增加sub_motion_status — zhaojianfeng2 / detail
29. feat:添加忽略身后og点的标志位 — wuyanjun110 / detail
30. feat_out:增加车辆状态字段 — zhaojianfeng2 / detail
31. feat_out:增加剩余续航里程 — zhaojianfeng2 / detail
32. feat:在pnc_debug中增加observer_debug — 5081703.cr / detail
33. feat:在pnc_debug中增加observer_debug — wuyanjun110 / detail
34. feat_out:添加tcu2vehicle消息 — zhaojianfeng2 / detail
35. fix:类型错误 — zhaojianfeng2 / detail
36. feat:ads command里面添加 步进间隔的字段 — wuyanjun110 / detail
37. feat:添加脱困模式的字段 — wuyanjun110 / detail
38. feat:添加脱困模式的字段 — wuyanjun110 / detail
39. feat:云控语音控制消息 — haoxiangtao / detail
40. feat:在pnc_debug中增加observer_debug — 5081703.cr / detail

#1243 (Nov 6, 2025 10:44:13 AM)

1. feat: ssep: tt 搜索中，使用guide line匹配终点 — tangwenqing / detail
2. fix: using pnc upper speed limit for wbca. — 5081703.cr / detail
3. fix: wbca start vel bug. — 5081703.cr / detail
4. fix: using his when esdf=null. — 5081703.cr / detail
5. fix: obstacle_decider bug. — 5081703.cr / detail
6. fix:修复对准标志位请求不复位的bug — wuyanjun110 / detail
7. feat:openspace场景调用老的ssep算法 — wuyanjun110 / detail
8. feat:打开红绿灯路口停车功能 — wuyanjun110 / detail
9. feat:调整红绿灯停车的逻辑 — wuyanjun110 / detail
10. feat:wcba限速添加参数 — wuyanjun110 / detail
11. feat:imv 变道的安全校验参数化 — wuyanjun110 / detail
12. feat:优化红绿灯停车 — wuyanjun110 / detail
13. fix:调整红绿灯停车的刹车值 — wuyanjun110 / detail
14. feat:车车道出堆场不添加双黄线约束 — wuyanjun110 / detail
15. feat: 加入双向搜索，太阳纸业支持car倒车入库。 — tangwenqing / detail
16. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 — tangwenqing / detail
17. fix: ssep加保护逻辑，不考虑距离过远的途经点 — tangwenqing / detail
18. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 — tangwenqing / detail
19. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 — tangwenqing / detail
20. chore: ssep-car-多段倒车入库提升成功率 — tangwenqing / detail
21. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 — tangwenqing / detail
22. feat: merge latest ssep - 跑通双向搜索fallback进堆场 — tangwenqing / detail
23. fix: 修复ssep路径终点离设定终点过远的问题 — tangwenqing / detail
24. feat:吊距防护相关的优化 — wuyanjun110 / detail
25. fix: correct imv crab mode conditions. — 5081703.cr / detail
26. feat:适配 感知105类型 — wuyanjun110 / detail
27. fix:重复进行四阶段的bug — wuyanjun110 / detail
28. feat:吊距临停阈值和2nd 切换 lock 阈值一致 — wuyanjun110 / detail
29. feat:3阶段过程中，假如吊具着箱，不进行4阶段对准 — wuyanjun110 / detail
30. chore: SSEP: Decrease tractor-trailer bi-direction search time limit. — tangwenqing / detail
31. feat:变道是否考虑身边的障碍物默认值修改成true — wuyanjun110 / detail
32. feat:修改ssep碰撞检测阈值 — wuyanjun110 / detail
33. fix:龙须点处理的bug — wuyanjun110 / detail
34. fix:出堆场搜索的真实障碍物添加的bug — wuyanjun110 / detail
35. chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置 — tangwenqing / detail
36. feat: 进堆场使用双向搜索+keb优化 — tangwenqing / detail
37. chore: keb-optimizer增加曲率约束校验 — tangwenqing / detail
38. fix: 修复起点终点过远时反向搜索失效的问题 — tangwenqing / detail
39. chore: SSEP: import tensorrt into ssep — tangwenqing / detail
40. fix:修复崩溃的bug — wuyanjun110 / detail
41. refactor:优化关路禁停 — wuyanjun110 / detail
42. 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 — tangwenqing / detail
43. 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。 — tangwenqing / detail
44. fix: max_acc = 0.5 for wbca velocity reference. — 5081703.cr / detail
45. fix: hmi load map. — 5081703.cr / detail
46. feat_out: path_opt in replayer. — 5081703.cr / detail
47. fix: velocity profile exception. — 5081703.cr / detail
48. fix: delete history in smooth mode. — 5081703.cr / detail
49. fix:修复封路变道的bug — wuyanjun110 / detail
50. fix:引桥前变道的bug — wuyanjun110 / detail
51. fix:可能崩溃的bug — wuyanjun110 / detail
52. fix:修复合并的bug — wuyanjun110 / detail
53. fix:修复合并的bug — wuyanjun110 / detail
54. fix: using maximum vehicle size in WBCA — 5081703.cr / detail
55. fix:人工对准误创建约束 — wuyanjun110 / detail
56. fix: abandon  last segment in wbca. — 5081703.cr / detail
57. fix: wbca debug msg. — 5081703.cr / detail
58. fix: end_velocity for wbca calc exception. — 5081703.cr / detail
59. fix: velocity profile exception. — 5081703.cr / detail
60. fix: add wbca debug var. — 5081703.cr / detail
61. fix: add wbca cost and time_consuming. — 5081703.cr / detail
62. fix: add lateral acc cost. — 5081703.cr / detail
63. feat:添加根据定位值的倒车防护，防治对准时，跟着桥走. — wuyanjun110 / detail

#1241 (Nov 5, 2025 9:30:39 PM)

1. fix: wbca bd expanding. — 5081703.cr / detail
2. feat:调整搜索终点位置 — wuyanjun110 / detail
3. feat:堆高机作业关路重叠时，合并 — wuyanjun110 / detail
4. feat:park lock下 不校验地图 — wuyanjun110 / detail
5. feat:调整出堆场口的约束创建 — wuyanjun110 / detail
6. fix:修复因为距离阈值，带来场景识别错误的bug — wuyanjun110 / detail
7. fix:修复终点距离计算的bug — wuyanjun110 / detail
8. fix:修复海润进弯道后第一个停车位停不正的bug — wuyanjun110 / detail

#1240 (Nov 5, 2025 5:11:45 PM)

1. fix:修复因为距离阈值，带来场景识别错误的bug — wuyanjun110 / detail
2. fix: disable wbca_debug mode. — chenran / detail

#1239 (Nov 5, 2025 3:18:19 PM)

1. fix: bug — chenran / detail