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Changes

Summary

  1. chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 (details)
  2. doc: SSEP: 补充搜索模块相关的注释和文档 (details)
  3. fix: 修复进堆场规划器头文件引用路径 (details)
  4. fix: 调整散货出场禁横移区域判定 (details)
  5. feat: 散货进场末段切换 PJPO 规划 (details)
  6. fix: 增强 SSEP 目标路径有效性校验 (details)
  7. feat: 振石进场按参考线构造搜索起点 (details)
  8. doc: SSEP: 增加keb optimizer及离线工具的说明文档 (details)
  9. fix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题 (details)
Commit bced6f6d483813906b1a3fd2308a7a4835c657ab by tangwenqing
chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit bc8a0f42965a27f6aa0896d9d5886b20e27fe867 by tangwenqing
doc: SSEP: 补充搜索模块相关的注释和文档

The file was addedssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.h
The file was modifiedssep/coarse_search/evaluator/bidirectional_kinematic_heuristic_computer.h
The file was addedssep/coarse_search/searcher_builders/README.md
The file was modifiedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/coarse_search/evaluator/diagonal_cost_computer.h
The file was modifiedssep/coarse_search/evaluator/jackknife_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/evaluator/composite_heuristic_computer.h
The file was modifiedssep/coarse_search/evaluator/trailer_collision_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/const_pinch_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/README.md
The file was modifiedssep/coarse_search/evaluator/dir_switching_cost_computer.h
The file was addedssep/coarse_search/motion_primitive_sampler/README.md
The file was removedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
The file was modifiedssep/coarse_search/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was addedssep/coarse_search/evaluator/README.md
The file was removedssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
The file was addedssep/coarse_search/topology_analysis/yard_entry_reference_path_generator.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
Commit f4a230bfa3e99386c715ba81040f0e2da5f45c7a by wuyanjun110
fix: 修复进堆场规划器头文件引用路径

更新 YardEntryReferencePathGenerator 重构后的头文件目录，解决 ssep_planner 编译时找不到头文件的问题。
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 92ec18ef9528acb21394f9687294695be642af6a by wuyanjun110
fix: 调整散货出场禁横移区域判定

使用任务 FSM 的 TRAVEL_OUT 子状态判断太阳纸业散货出场阶段，避免流控状态与实际任务阶段不一致。

补充振石散货场景在最后一段 SSEP 路径上的横移放行逻辑。
The file was modifieddata/boundary/road_boundary.cpp
Commit 08b5a4d8bc6d8ce57da4b1c4b73fbb39ae897f84 by wuyanjun110
feat: 散货进场末段切换 PJPO 规划

新增 bulk in 最后一段 SSEP 路径条件，并在散货前向阶段支持横向规划器选择器。命中条件时同步选择 PJPO 任务及 active lateral planner，保证 HMI 展示与实际规划器一致。
The file was modifieddata/config/cfg_stage.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/task_condition_evaluator.hpp
The file was modifiedscenarios/task_condition_evaluator.cpp
Commit ee1806d7ac6d14c1e6ae396c22ff2c1a465227b6 by wuyanjun110
fix: 增强 SSEP 目标路径有效性校验

引导线构造与路径拼接前统一使用 Path::IsAvailable 校验 SSEP 目标路径。路径点不足时回退历史引导线，避免继续访问 front、back 或执行坐标转换。
The file was modifieddata/plan/guide_line.cpp
Commit a19a44b5976756bef5c6ba34d485470995d3d167 by wuyanjun110
feat: 振石进场按参考线构造搜索起点

振石 bulk in 场景复用前港的动态搜索起点计算，根据车辆速度和目标点在参考线上的位置选择前向搜索起点。
The file was modifieddata/ssep/forward_ec.cpp
Commit 75ad18901f026164b12f30f4328d3d7ad9782e15 by tangwenqing
doc: SSEP: 增加keb optimizer及离线工具的说明文档

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was addedssep/offboard/scene_replay/README.md
The file was addedssep/keb_optimizer/README.md
Commit eee3ac87e6210b49e7360eabede326d100ac52cd by tangwenqing
fix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cc