Build #300 (Aug 26, 2026 9:20:35 AM)

	Changes feat_out: 增加特殊区域 (details) Changes fix:优化动态下码头面搜索终点选取的问题 (details) refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug (details) fix: del mode=0 (details) fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details) feat: 添加核心对象库并优化可执行文件链接逻辑 (details) feat: add smooth_mode_wbca_params (details) fix: smooth_mode_wbca_params bug (details) fix: lock historical cloud point in replayer. (details) fix: add FORWARD_BEFORE_BACKWARD (details) fix: ssep replan for reversing truck. (details) fix: refine deviation_stop params. (details) fix: path disapearing issue. (details) fix: trailer_path_ego match issue. (details) refact: straighten then reverse. (details) fix: using map lane width for single line lane detection (details) feat: stop for localization switching. (details) fix: log msf localization switching status. (details) fix: road segment splitting bug. (details) refact: GetRoadSegmentFirstSplitPos (details) fix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 (details) fix: 解决西联IMV进停车位搜索过慢的问题 (details) feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details) fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details) fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 (details) feat: add position check for reversing (details) fix: disable revsersing deviation. (details) feat: limit straithen times. (details) feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 (details) fix: reversing times bug (details) fix: checkout feat_keb_task (details) fix: reversing ssep planner bug (details) fix: reversitong activation position thr 10.0 (details) feat: add lbfgs prevous version. (details) fix: curvature over limit filer. (details) feat:合并ssep (details) fix: checkout ssep from feat_keb_task (details) feat: checkout relate_offset from feat_straddle_v2 (details) feat: add DeviationStatus (details) feat: add update_end_position for ssep replan. (details) feat: deviation for align (details) fix: ssep replan for bulk align. (details) fix: reverse bulk offset heading (details) feat: limit reversing align times (details) fix: log align info; serialize bulk_align_offset (details) fix: log stop_deviation_for_algn (details) fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details) fix: pnc_map splitting error. (details) fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details) chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details) fix: SSEP: 修复多段倒车路径异常问题 (details) feat: set up max_forward_distance (details) fix: SSEP: 修复自卸车进卸料区路径有点斜的问题 (details) fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details) fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details) fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 (details) fix: straight lane near crane and lock_station (details) feat: ssep replan for localization exception. (details) feat: waiting for lift traile; using heading error for reversing align (details) fix: checkout feat_keb_v2 ssep (details) fix: add max_forward_distance_for_straighten_trailer (details) fix: deviation_status bug (details) fix: ignore path optimizor in park_in state. (details) chore: SSEP: 集卡多段倒车接挂适配超窄库位 (details) refactor:优化界面耗时 (details) fix: using straighten replan logic for path_direction_change replan type (details) fix: SSEP: 解决威海多段倒车距离og墙太近的问题 (details) fix: checkout feat_keb_v2 (details) feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 (details) fix: 修复威海车型不匹配的问题 (details) chore: SSEP: 减小集卡多段倒车的最大曲率 (details) fix:修复快照播放崩溃的bug (details) fix: check out feat_keb_v2 ssep (details) fix: add ssep_forward_ec_tail_straight_distance (details) fix: ssep replan bug (details) fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 (details) chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 (details) feat: SSEP: 调整集卡多段倒车拉直逻辑 (details) fix: build error (details) feat: 添加<cstddef>头文件以支持大小类型 (details) 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details) refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks (details) 桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 (details) fix: multi-frames trigger (details) fix: truck reversing path kappa calculation (details) fix: extending distance from current ego position. (details) feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 (details) fix: revering in straight line (details) fix: is_in_straight_lane = false during park state (details) fix: disable replan during path direction changing for straightening (details) feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 (details) chore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 (details) chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 (details) fix: synchronize straighten hold with SSEP search (details) fix: stabilize STEP_ALIGN trajectory (details) chore: 注释掉WHBULK的终点约束 (details) feat: 稳定障碍停车约束释放 (details) test: 补充障碍停车约束自动化场景 (details) feat: 展示障碍停车约束诊断 (details) fix: 修复 SSEP 离线回放构建 (details) feat: SSEP: Add coarse search tutorial. (details) fix: 修正拖挂车指令重规划拉直判定 (details) fix: 取消威海散货引桥终点约束 (details) chore: SSEP: 更新集卡启发项表生成器 (details) feat: 超视距线支持按高度分层 (details) fix: 补充 SC 目标点类型显示 (details) fix: 设置初始位姿时保留定位高度 (details) fix: 修正拖挂停车途经点判定 (details) doc: SSEP: Add keb tutorial (details) fix: 修正拖挂车指令重规划拉直判定 (details) fix: 取消威海散货引桥终点约束 (details) feat: 超视距线支持按高度分层 (details) fix: 修复 BulkOut 重规划状态误退出 (details) fix: 修正横向规划器类型识别 (details) fix: 统一 BulkOut 的 SSEP 前向阶段 (details) feat: 增加 KEB 规划可视化与诊断 (details) fix: 修复绕行边界与会车响应 (details) fix: 补充快照加载失败诊断 (details) docs: 补充算法场景回放建设方案 (details) fix: 恢复散货前向阶段 WBCA 规划 (details) fix: 修复绕行超车目标升级 (details) feat: 接入条件禁行区域碰撞检测 (details) feat: keb正确返回theta值 (details) fix: 调整 KEB 道钉点碰撞处理 (details) fix: 恢复静态聚类凸包绕行占用 (details) fix: 收紧叉头叉尾纵向扩展 (details) fix: 修复 PNC 地图道路段转换异常 (details) fix: 保持变道路径跨阶段连续 (details) fix: 提高变道 PJPO 求解稳定性 (details) fix: 缩小变道障碍物纵向扩展范围 (details) Changes feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车 (details) feat: SafePreprocess 优化 (details) feat: 对准和刹车时的减速度积分防护 (details) Changes feat_out: "增加GetConditionNoDrivingRegions接口" (details) feat_out: 增加Region_Gate类型 (details)
	Started by user tianjunliang
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