Build #169 (Mar 13, 2026 10:59:49 AM)

1. feat:在pnc_debug中增加observer_debug (details)
2. note_out: 添加车挂信息（云控输入） (details)
3. feat:lonmpc (details)
4. feat: mass estimation debug (details)
5. fix:调整pnc_debug观测项 (details)
6. feat:油门标定消息 (details)
7. feat:增加观测 (details)
8. feat:添加挂尺寸相关字段 (details)
9. feat:删除多余的字段 (details)
10. feat_out:外设操作命令修改 (details)
11. feat:添加挂尺寸相关字段 (details)
12. feat:删除多余的字段 (details)
13. feat_out:增加夹爪控制及反馈 (details)
14. fix:pnc_debug/observer_debug更改 (details)
15. feat_out:增加剩余续航里程字段 (details)

1. fix:3 4 阶段对准时,不能切换creep的bug (details)
2. feat:og碰撞的优化 (details)
3. feat:进堆场的优化 (details)
4. feat:关闭debug信息 (details)
5. feat:junction弯道区间计算的bug (details)
6. feat:纵一路边上的转场临停修改判断阈值 (details)
7. fix:修复误变道的问题 (details)
8. feat:搜索的时候是否考虑静态障碍物添加开开关 (details)
9. fix:龙须点处理的bug (details)
10. fix:修复龙须点处理的bug (details)
11. feat:调整单车道堆场的约束 (details)
12. fix:没有路径，并且在弯道前，ssep无法搜索的bug (details)
13. feat:优化场桥防护 (details)
14. fix: lattice wbca velocity reference bug. (details)
15. fix: send 50m path to control in bulk state. (details)
16. fix: delete submodules (details)
17. fix: serailize params for wbca (details)
18. fix: wbca params serialization bug (details)
19. fix: Trajectory MatchByt bug. (details)
20. fix: build bug (details)
21. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
22. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
23. fix: wbca path fluctuation problem. (details)
24. fix: add wbca min_start_velocity (details)
25. fix: wbca crab mode condition opt. (details)
26. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
27. fix:进充电桩场景切换的bug (details)
28. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
29. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
30. fix:修复误进入openspace的bug (details)
31. feat: add smooth_mode_wbca_params (details)
32. fix: smooth_mode_wbca_params bug (details)
33. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
34. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
35. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
36. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
37. fix: imv wbca end velocity bug. (details)
38. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
39. feat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出 (details)

Started by user haoxiangtao

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• origin/rc_dev_qiangang

• origin/feat_pnc_status

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• origin/feat_qiangang_refactor

• origin/rc_dev