Build #189 (Apr 23, 2026 11:59:48 AM)

1. Update push.groovy (details)
2. Update push.groovy (details)
3. Update orinBuild.groovy (details)
4. Update orin32Choice.groovy (details)
5. Update orin64Choice.groovy (details)
6. Update orinModule32Choice.groovy (details)
7. Update orinModule64Choice.groovy (details)

1. Update guangxi-youyiguan-submodule.jenkinsfile (details)
2. Update telediagnostic.jenkinsfile (details)
3. Update mizar.jenkinsfile (details)
4. Update polaris.jenkinsfile (details)
5. Update tc397_ota.jenkinsfile (details)
6. Update python-scripts.jenkinsfile (details)
7. Update system-libraries.jenkinsfile (details)
8. Update hdmap-cloud.jenkinsfile (details)
9. Update map-png.jenkinsfile (details)
10. Update map-png.jenkinsfile (details)

1. fix:引桥前变道的bug (details)
2. fix:变道的bug (details)
3. chore: SSEP: Update ssep sdk. (details)
4. fix:修复合并的bug (details)
5. fix:修复合并的bug (details)
6. chore: 重构keb_optimizer，提取出tractor_trailer_keb_optimizer. 后续可以为其他车型添加优化器 (details)
7. fix:适配open space 场景 (details)
8. fix: using maximum vehicle size in WBCA (details)
9. fix: using maximum vehicle size in WBCA (details)
10. Feat: SSEP: 增加自卸车倒车卸货场景 (details)
11. feat: 接入自卸车倒车卸货场景 (details)
12. fix: abandon  last segment in wbca. (details)
13. fix: 修复ssep搜索区域尺寸错误 (details)
14. fix:可能崩溃的bug (details)
15. fix: wbca debug msg. (details)
16. fix: end_velocity for wbca calc exception. (details)
17. fix: velocity profile exception. (details)
18. fix:人工对准误创建约束 (details)
19. fix:人工对准误创建约束 (details)
20. feat:open space的优化 (details)
21. refactor:直线步进 优化步进时间 (details)
22. refactor:直线步进 优化步进时间 (details)
23. feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。 (details)
24. feat: ssep_data中保存重规划原因 (details)
25. fix: add wbca debug var. (details)
26. fix: add lateral acc cost. (details)
27. fix: abandon  last segment in wbca. (details)
28. fix: wbca debug msg. (details)
29. fix: end_velocity for wbca calc exception. (details)
30. fix: velocity profile exception. (details)
31. fix: add wbca debug var. (details)
32. fix: add lateral acc cost. (details)
33. fix: add wbca cost and time_consuming. (details)
34. fix: add wbca cost and time_consuming. (details)
35. fix: add wbca cost and time_consuming. (details)
36. fix: add lateral acc cost. (details)
37. fix: SSEP: 修复car+optimizer中代码的bug (details)
38. merge latest ssep (details)
39. feat:添加根据定位值的倒车防护，防治对准时，跟着桥走. (details)
40. fix:修复代码合并的bug (details)
41. fix: pub lane_pts debug msg. (details)
42. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
43. feat: 适配IMV-either-facing-goal搜索。苏溪去除冗余的end theta加减PI处理 (details)
44. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
45. feat:暂时可以调试 (details)
46. fix:修复快照里面dp path 计算错误的bug (details)
47. feat:原地打方向盘时，方向盘校验的阈值参数化 (details)
48. chore: SSEP: 更新到最新版本ssep，增加集卡多段Parking场景，多段Parking增加优化后处理 (details)
49. chore: 适配新版本ssep (details)
50. feat: SSEP: 增加集卡多段倒车场景 (details)
51. fix: wbca bd expanding. (details)
52. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
53. feat: SSEP: 增加集卡多段倒车场景 (details)
54. fix:修复连续普通路口搜索的bug (details)
55. fix: SSEP: Resolve crashing issue. (details)
56. fix: SSEP: Resolve crashing issue. (details)
57. fix: SSEP: Resolve crashing issue. (details)
58. fix: SSEP: Resolve crashing issue. (details)
59. feat: add distance2bend (details)
60. fix: WBCA lane change path (details)
61. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
62. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
63. fix: cherry pick bug. (details)
64. feat:适配状态机场景 (details)
65. feat: WBCA serialization for debug. (details)
66. fix: using history_pts for lattice velocity reference. (details)
67. fix: use_func_use_wbca_speed_limit = true (details)
68. fix: wbca bd expanding. (details)
69. fix: using history_pts for lattice velocity reference. (details)
70. feat: SSEP: 增加引导线跟随模式搜索 (details)
71. feat: ssep适配脱困模式 (details)
72. feat:boost 编译错误 (details)
73. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
74. fix: lateral acceleration parameters. (details)
75. fix: ComputeLonGuideVelFromLatAcc (details)
76. feat: clear align times when align2nd to align1st. (details)
77. feat: clear align times when align2nd to align1st. (details)
78. feat:脱离模式 路径切换的适配 (details)
79. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
80. feat: SSEP: 增加引导线跟随模式搜索 (details)
81. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
82. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
83. fix: lon_decision for car. (details)
84. feat:cut ego 添加参数 (details)
85. feat:适配新的障碍物类型 (details)
86. fix: lon_decision for car. (details)
87. feat:脱困模式，适配重搜索逻辑以及地图版本校验 (details)
88. feat:cut ego 添加参数 (details)
89. feat:适配新的障碍物类型 (details)
90. fix: add min_turn_radius (details)
91. fix: add lattice_velocity_reference_mode (details)
92. feat:调整搜索终点位置 (details)
93. feat:堆高机作业关路重叠时，合并 (details)
94. feat:park lock下 不校验地图 (details)
95. fix: disable wbca debug mode. (details)
96. feat:调整出堆场口的约束创建 (details)
97. feat:调整出堆场口的约束创建 (details)
98. fix: max_lat_acc in wbca params (details)
99. fix: ignore dynamic obstacle in risk evaluation. (details)
100. fix:调整危险限速距离的bug (details)
101. feat:调整状态机 (details)
102. feat:远程步步进，停车时间参数化 (details)
103. fix:调整危险限速距离的bug (details)
104. feat:远程步步进，停车时间参数化 (details)
105. fix_out: lat_acc_baed ref vel cal error. add debug msg. (details)
106. fix:修复因为距离阈值，带来场景识别错误的bug (details)
107. fix: bug (details)
108. fix: disable wbca_debug mode. (details)
109. fix:修复终点距离计算的bug (details)
110. chore(format):格式 (details)
111. chore: 适配remote guide line变更 (details)
112. fix:修复海润进弯道后第一个停车位停不正的bug (details)
113. fix:修复因为距离阈值，带来场景识别错误的bug (details)
114. fix:修复终点距离计算的bug (details)
115. fix:修复海润进弯道后第一个停车位停不正的bug (details)
116. fix: delete log. (details)
117. enable ssep_heat_net (tmp commit) (details)
118. fix:修复误触发open space的bug (details)
119. fix:修复误触发open space的bug (details)
120. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
121. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
122. fix: delete log (details)
123. feat: SSEP: 完成 learning-based 进出堆场口搜索全流程 (details)
124. feat: 适配ssep learning-based 进出堆场口 (details)
125. feat:执行remote后进入stop auto (details)
126. feat:添加obj障碍物的跟车距离 (details)
127. refactor:优化bulk场景的限速 (details)
128. fix: SSEP: 修复终点在堆场边缘时，场景识别错误导致搜索失败的问题。 (details)
129. chore: SSEP: Add some printos. (details)
130. fix:修复park lock 切换 park out， 不重搜索的bug (details)
131. 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 (details)
132. feat:添加obj障碍物的跟车距离 (details)
133. refactor:优化跟车距离 (details)
134. refactor:优化跟车距离 (details)
135. chore: SSEP: use standard out stream. (details)
136. fix: 解决未安装cuda的系统编译失败的问题。 (details)
137. fix:临时修复重搜索的bug (details)
138. refactor:优化动态搜索限速 (details)
139. feat: SSEP: 重规划时先考虑复用优化上一条轨迹 (details)
140. feat: SSEP重规划时复用轨迹 (details)
141. refactor:优化动态搜索限速 (details)
142. fix:修复replayer编译失败的bug (details)
143. feat: lon_decision from SQ (details)
144. fix: add min_safe_ttc (details)
145. fix: v_min_coef = 9.9 wbca (details)
146. fix: disable dynamic and steering speed constraints (details)
147. fix: disable dynamic and steering speed constraints (details)
148. fix: add min_velocity_coefficient_for_velocity_cost. (details)
149. feat:添加障碍物靠近警报的功能 (details)
150. feat:添加障碍物靠近警报的功能 (details)
151. fix:修复出堆场过程中， travel out场景退出的bug (details)
152. fix: bulk场景 进出堆场限速的bug (details)
153. feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。 (details)
154. refactor:优化动态搜索限速 (details)
155. feat:添加障碍物靠近警报的功能 (details)
156. fix:修复出堆场过程中， travel out场景退出的bug (details)
157. fix: bulk场景 进出堆场限速的bug (details)
158. fix:优化不绕行和搜索停车的问题 (details)
159. fix:保存任务时，当前定位保存错误的bug (details)
160. fix:合并的bug (details)
161. chore: SSEP: minor params finetune. (details)
162. feat: 海润适配新imv搜索器 (details)
163. fix: wbca crash issue. (details)
164. fix: crash issue. (details)
165. fix: SSEP: 修复集卡进堆场轨迹绕圈问题 (details)
166. fix: wbca debug mode. (details)
167. fix: replace IsInLat/Lon with is_bend. (details)
168. feat:适配大港ssep (details)
169. feat: ogm聚类时使用多边形代替原来的线段障碍物 (details)
170. chore: SSEP: (details)
171. feat: 进出堆场场景中，如果存在云端remote guide line的话，进入参考线跟随搜索模式。 (details)
172. chore: SSEP: imv optimizer参数调试 (details)
173. fix: 救援模式下，无法取消任务的bug (details)
174. fix:状态机切换的bug (details)
175. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
176. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
177. fix: crash issue. (details)
178. fix:堆场口禁停异常的bug (details)
179. chore: SSEP重构 - 实现搜索框架适配器，将旧的搜索器适配到新框架，统一流程。可视化与主进程解耦，去除死代码。 (details)
180. chore: 适配ssep重构 (details)
181. chore: SSEP: minor adjustments (details)
182. chore: SSEP: 1. imv-keb-optimizer调参解决低贝位进堆场路径画龙的问题。2. 限制斜行角度。 (details)
183. chore: SSEP: 增加打印信息，修复一些小错误。 (details)
184. feat:适配直线步进，根据ttc进行碰撞检测的功能 (details)
185. fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug (details)
186. fix:向后直线步进的bug (details)
187. fix:向后直线步进的bug (details)
188. fix:修复合并的bug (details)
189. feat:cheackout ssep (details)
190. feat:release (details)
191. fix:出停车位,不拼接参考线的bug (details)
192. fix: 拖车路径延长初始角度错误 (details)
193. fix:travel out 退出的bug (details)
194. feat:1.吊具着箱后，拒绝对准2.添加吊距防护忽略安全的参数 (details)
195. fix: SSEP: 修复碰撞检测参数错误 (details)
196. fix:ttc计算的bug (details)
197. chore: SSEP: 改进脱困模式效果 (details)
198. fix:优化云端轨迹的转向赋值 (details)
199. fix:ttc计算的bug (details)
200. chore: ssep改善脱困模式搜索效果 (details)
201. fix:修复平行驾驶出堆堆场不退出travel out 场景的bug (details)
202. fix:修复直道标志位传输错误的bug (details)
203. refactor:优化救援模式下的跟车距离 (details)
204. chore: SSEP: Refactor (details)
205. fix: ssep修复车道方向未赋值的问题，remote guide line校验不通过时打印错误信息 (details)
206. chore: SSEP: 改进脱困模式效果 (details)
207. chore: ssep改善脱困模式搜索效果 (details)
208. feat: add drving_corridor_ogm_dilate_size_in_yard (details)
209. fix:云端轨迹挂转角赋值错误的bug (details)
210. fix: disable optimizer in ssep (details)
211. feat:暂时关闭路口延长的逻辑 (details)
212. feat:暂时关闭路口延长的逻辑 (details)
213. chore: SSEP 重构大框架完成并通过自测 (details)
214. fix: using successors to extend bend lane laterally. (details)
215. fix: using successors to extend bend lane laterally. (details)
216. fix: ssep: 补充重构时缺少的remote guide line处理逻辑 (details)
217. fix: 修复错误进入多段出停车位场景的问题 (details)
218. fix: 修复错误进入多段出停车位场景的问题 (details)
219. chore: 修复友谊关场景错误 (details)
220. chore: SSEP: 改进集卡多段倒车 (details)
221. chore: minor update. (details)
222. feat:道路方案判断的阈值参数化 (details)
223. feat: ssep优化时增加对集卡车头车挂夹角的限制 (details)
224. fix: is_lane_begin_and_end_same. (details)
225. feat: SSEP: 脱困模式生成多段路径时，检测并去除过短的路径段。 (details)
226. fix: 修复威海bulk out搜索失败的问题 (details)
227. chore: SSEP: 脱困模式优化器提高参考线权重 (details)
228. feat:添加超时框停车的功能 (details)
229. feat:调整rss 安全判断 (details)
230. feat:调整云端障碍物的显示 (details)
231. feat: 改进集卡SSEP路径延长策略。跑通苏溪集卡出停车位场景。 (details)
232. feat:引导线的序列化 (details)
233. feat:限制忽略预测的最小距离阈值 (details)
234. refactor:优化ssep og lines的序列化 (details)
235. fix:replayer ogm lines显示的开关 (details)
236. chore: SSEP: 改善杨浦低贝位进堆场轨迹扭曲的问题 (details)
237. feat:优化imv 出停车位的相关逻辑 (details)
238. feat:集卡出停车位 多段路径搜索参数调优(wenqing) (details)
239. fix: SSEP: 修复IMV的either-facing搜索模式反向搜索成功率低的问题 (details)
240. fix:优化极限变道安全的校验 (details)
241. fix:进堆场弯道后目标车道选择时， 匹配失败的bug (details)
242. fix: SSEP: 解决IMV优化器效果差的问题，取消参考线heading跟踪。 (details)
243. chore: SSEP 调整集卡进堆场参数 (details)
244. fix: start up boundary optimization. (details)
245. fix:target 任务 终点保存的bug (details)
246. fix: stacker crane wbca smooth mode thr. (details)
247. fix:imv和集卡进出停车的适配 (details)
248. feat:优化切换bulk in的条件 (details)
249. feat: low bay operation smooth (details)
250. feat:苏溪 进堆场堆场和普通路口搜索参数调优 (details)
251. feat:优化路口搜索 (details)
252. feat:car 动态搜索相关问题适配 (details)
253. fix: start up boundary optimization. (details)
254. fix: stacker crane wbca smooth mode thr. (details)
255. feat: low bay operation smooth (details)
256. chore: 太阳纸业适配reversing driving进货堆 (details)
257. feat: add UpdateRouteForSmoothMode (details)
258. fix:修复货堆任务无法自动起步的bug (details)
259. fix: wbca crash issue. (details)
260. chore: SSEP: 进出堆场多段搜索的步骤切换条件改进 -- 现在可以不按最近的堆场口进入堆场 (details)
261. feat:终点距离计算的问题 (details)
262. feat:travel out 切换 bulk 的bug (details)
263. fix:修复remote状态机切换的bug (details)
264. fix: ssep重新开启heatnet (details)
265. feat:bulk状态下，障碍物挡停 切换 bulk lock的阈值参数化 (details)
266. feat:修复routing data 转换的问题 (details)
267. fix: SSEP: 修复倒车规划时初始方向向前的问题 (details)
268. feat:过滤107 类型的点云 (details)
269. feat: 增加ssep scenario config，通过参数文件设置场景触发条件及场景参数 (details)
270. feat:远程步进超时的问题 (details)
271. feat:出堆场场景赋值错误的bug (details)
272. chore: SSEP: 前港进出堆场改进 (details)
273. feat:修复默认的步进速度 (details)
274. chore: SSEP: 改善集卡多段出停车位效果 (details)
275. chore: SSEP: 改善集卡多段出停车位效果 (details)
276. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
277. Refactor: SSEP: minor updates (details)
278. feat:整理安全防护 (details)
279. fix:修复距离超视距框过近，搜索失败的bug (details)
280. fix:调整ttc 预测轨迹 (details)
281. feat: 太阳纸业场景适配 (details)
282. feat:wcba求解路径过短的问题修复 (details)
283. fix:wcba路径过短的问题 (details)
284. fix: imv cost (details)
285. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
286. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
287. fix:参考线拼接的bug (details)
288. feat:wcba求解路径过短的问题修复 (details)
289. fix:wcba路径过短的问题 (details)
290. fix: using guide_line pt for smooth mode. (details)
291. feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta (details)
292. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
293. Refactor: SSEP: minor updates (details)
294. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 (details)
295. feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta (details)
296. fix: wbca smooth_mode path opt. (details)
297. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
298. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
299. feat: SSEP增加IMV进堆场场景 (details)
300. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
301. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
302. feat: SSEP增加IMV进堆场场景 (details)
303. chore: SSEP: 调试IMV路径 (details)
304. chore: SSEP: 调试IMV路径 (details)
305. chore: Add proto converters. (details)
306. feat:根据指令更改挂的尺寸 (details)
307. Revert "feat:暂时屏蔽container size 变量" (details)
308. refactor: 去除SSEP中不再用到的参数与相关处理。 (details)
309. fix:太阳纸业 出库， ssep路径匹配的bug (details)
310. fix:太阳纸业 出库， ssep路径匹配的bug (details)
311. fix: SSEP 修复proto版本不兼容的问题 (details)
312. fix: SSEP 修复proto版本不兼容的问题 (details)
313. fix:修复ttc预测的bug (details)
314. fix:修复ttc预测的bug (details)
315. Revert "feat:暂时屏蔽container size 变量" (details)
316. chore: SSEP: 改进多段路径 - 短路径去除的逻辑 (details)
317. fix: reversing car bulk scenario. (details)
318. fix:修复程序运行的bug (details)
319. feat:搜索尺寸参数赋值 (details)
320. fix:车辆参数赋值错误的bug (details)
321. refactor: update cmakelist (details)
322. fix: reversing crash. (details)
323. feat: convert cloud_obstacles to cloud points. (details)
324. chore: 改进出堆场搜索，调整offboard部分代码 (details)
325. refactor:调整末端的限速 (details)
326. chore: 改进友谊关多段倒车路径形状 (details)
327. chore: 改进友谊关多段倒车路径形状 (details)
328. feat:breakpad 崩溃 (details)
329. feat:删除终点后的不可绕行 (details)
330. feat:上引导不变道的bug (details)
331. feat:draw ssep崩溃的防护 (details)
332. feat:删除打印日志 (details)
333. fix:replayer编译失败的bug (details)
334. fix:breakpad编译失败的bug (details)
335. fix: SSEP: proto去除optional关键字 (details)
336. fix: motion_fsm to_normal bug. (details)
337. feat: SSEP: 完成ssep相关的proto定义。 (details)
338. fix: fix building issue (details)
339. fix: 修复imv优化器斜行代价太小的问题 (details)
340. fix: 修复imv优化器斜行代价太小的问题 (details)
341. Revert "fix: 修复imv优化器斜行代价太小的问题" (details)
342. fix:修复imv优化器斜行代价太小的问题 (details)
343. fix: first_frame smooth mode except in_yard (details)
344. refactor:优化进苏溪停车位的搜索 (details)
345. refactor:优化进苏溪停车位的搜索 (details)
346. fix: clear route in smooth mode when large deviation. (details)
347. fix: clear route in smooth mode when large deviation. (details)
348. chore: SSEP: 实现SceneFrame的构建 (details)
349. fix: wbca smoth_mode route interval (details)
350. fix: wbca smoth_mode route interval (details)
351. feat:适配梁山港 (details)
352. factor:添加搜索途径点的绘制 (details)
353. feat:适配梁山港 (details)
354. factor:添加搜索途径点的绘制 (details)
355. feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。 (details)
356. chore: ssep: yangpu enter yard (details)
357. refactor:优化序列化的显示 (details)
358. chore: SSEP: 改进杨浦进堆场路径 (details)
359. feat: add KappaRateCost. (details)
360. fix: add use_func_stationary_steering_activation (details)
361. chore: SSEP: yangpu进堆场路径调试 (details)
362. fix:宽度补偿的bug (details)
363. fix:宽度补偿的bug (details)
364. fix:参考线拼接的问题 (details)
365. feat:对准指令校验的阈值参数化 (details)
366. feat:优化counter的绘制 (details)
367. feat:ssep的优化 (details)
368. feat:杨浦进堆场口搜索约束的优化 (details)
369. feat:wcba的优化 (details)
370. refactor:优化序列化的显示 (details)
371. refactor:调整末端的限速 (details)
372. fix: smooth path opt. (details)
373. fix:参考线拼接的问题 (details)
374. feat:ssep的优化 (details)
375. feat:杨浦进堆场口搜索约束的优化 (details)
376. fix:参考线拼接的问题 (details)
377. feat:对准指令校验的阈值参数化 (details)
378. feat:优化counter的绘制 (details)
379. feat:ssep的优化 (details)
380. feat:杨浦进堆场口搜索约束的优化 (details)
381. feat:wcba的优化 (details)
382. feat: SSEP: 跑通offboard数据生成工具 (details)
383. fix:smooth_mode connection. (details)
384. fix: disable smooth mode in yard. (details)
385. feat: SSEP: Add SceneFrame Replayer. (details)
386. fix: wbca using history exception. (details)
387. fix: stitch path data failed. (details)
388. fix:苏溪进停车的bug (details)
389. fix:苏溪进停车的bug (details)
390. feat:添加绕行障碍物的速度参数 (details)
391. feat:添加绕行障碍物的速度参数 (details)
392. feat:优化绕行判断 (details)
393. feat:优化绕行判断 (details)
394. feat: SSEP: offboard: Add scene frame vis server. (details)
395. fix: extract path and trajectory in replayer. (details)
396. fix: extract path and trajectory in replayer. (details)
397. fix: wbca start_pos bug. (details)
398. feat:杨浦进堆场优化 (details)
399. chore: SSEP: update OG polygon extraction algr. (details)
400. feat:杨浦进堆场优化 (details)
401. feat: SSEP: Viz server add download button. (details)
402. feat: SSEP: Add rigid truck general scenario planner. (details)
403. fix: clear history_pts when wbca opt failed. (details)
404. fix: replayer wbca debug. (details)
405. fix: SSEP: 修复SSEP内存泄漏问题 (details)
406. chore: 保存ssep scene frame 到本地 (details)
407. fix: SSEP: Fix crashing issues (details)
408. fix:上引桥极限变道的bug (details)
409. chore: SSEP web 可视化增加【上一个】【下一个】按钮 (details)
410. feat: Pnc Cmakelist中增加scene_vis_server(编译和打包) (details)
411. chore: minor update (details)
412. fix: wbca debug (details)
413. feat: SSEP: visualization show trailer contour (details)
414. feat:杨浦进堆场优化 (details)
415. feat:最近车道匹配的bug (details)
416. feat: OG点挡停重规划 (details)
417. fix:修复连续普通路口搜索的bug (details)
418. feat:杨浦进堆场优化 (details)
419. feat:最近车道匹配的bug (details)
420. fix: SSEP: 修复car search + optimize相关问题 (details)
421. fix: active curvature speed limit. (details)
422. fix: wbca debug in replayer. (details)
423. fix: kappa_softmax and kappa_rate_softmax (details)
424. fix: win = 4 for kappa speed limit (details)
425. chore: SSEP: 改进低贝位进堆场效果 (details)
426. chore: SSEP: Remove unused offline files. (details)
427. fix:身后障碍物过滤的bug (details)
428. fix:replan逻辑的优化 (details)
429. refacor:搜索的优化 (details)
430. fix:修复连续普通路口搜索的bug (details)
431. fix:身后障碍物过滤的bug (details)
432. fix:replan逻辑的优化 (details)
433. refacor:搜索的优化 (details)
434. fix:编译的bug (details)
435. fix:编译的bug (details)
436. chore:  SSEP: Improve keb car optimization process (details)
437. feat: SSEP add scene data augmentation scripts. (details)
438. feat: 添加git push-notify功能，可以联动钉钉机器人发送推送通知，并调用大模型自动编辑周报 (details)
439. fix:重复规划的bug (details)
440. fix:出堆场，误进平滑模式的bug (details)
441. fix:优化出堆场的搜索 (details)
442. fix:重复规划的bug (details)
443. fix:出堆场，误进平滑模式的bug (details)
444. fix:优化出堆场的搜索 (details)
445. chore: git push notify config脱敏 (details)
446. fix:修复replayer内存泄漏的问题 (details)
447. feat: SSEP: 自卸车进出堆场时忽略起点终点附近的碰撞 (details)
448. fix: SSEP:  解决太阳纸业路口转弯距离参考线太远的问题 (details)
449. fix:防护half to float 到 inf的场景 (details)
450. fix: smooth_mode for bulk_load (details)
451. feat:翻斗角度过大停车值在bulkload场景下生效 (details)
452. feat:翻斗角度过大停车值在bulkload场景下生效 (details)
453. fix: SSEP: 修复苏溪出停车位时先往前走一段的问题。 (details)
454. fix: SSEP路径当前段匹配的bug (details)
455. fix: SSEP路径当前段匹配的bug (details)
456. fix: wbca debug (details)
457. fix:修复正常跟踪场景使用pjpo的bug (details)
458. fix:修复正常跟踪场景使用pjpo的bug (details)
459. fix:ssep replan崩溃的bug (details)
460. fix:ssep replan崩溃的bug (details)
461. fix: keep history when wbca failed. (details)
462. fix: SSEP: 解决苏溪进停车位搜索失败的问题 (details)
463. fix:完善搜索失败临时停车的功能 (details)
464. fix:完善搜索失败临时停车的功能 (details)
465. fix:修复崩溃的bug (details)
466. fix:修复崩溃的bug (details)
467. fix:修复太阳路口搜索失败的bug (details)
468. fix:修复太阳路口搜索失败的bug (details)
469. fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率 (details)
470. chore: SSEP: minor update (details)
471. chore: SSEP: minor updates (details)
472. feat:car类型的普通路口搜索考虑边界 (details)
473. feat:car类型的普通路口搜索考虑边界 (details)
474. fix:修复可能崩溃的bug (details)
475. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
476. fix: SSEP: 修复优化器中起点曲率没有初始化的问题 (details)
477. fix:修复可能崩溃的bug (details)
478. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
479. fix: start_pt from last_path. (details)
480. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
481. fix:连续载入快照崩溃的bug (details)
482. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
483. fix: start_pt from last_path. (details)
484. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
485. fix:连续载入快照崩溃的bug (details)
486. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
487. fix:董家口靠边作业的问题 (details)
488. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
489. fix: add curvature over limit temp stop. (details)
490. fix: curvature_over_limit_stop_coefficient 10.0 (details)
491. chore: SSEP minor updates (details)
492. fix: truck start_pt exception. (details)
493. feat:曲率超限停车优化 (details)
494. feat:travel out 没有一次规划的适配 (details)
495. fix:董家口靠边作业的问题 (details)
496. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
497. feat:曲率超限停车优化 (details)
498. fix:调整曲率超限的滤波参数 (details)
499. fix:调整曲率超限的滤波参数 (details)
500. fix:曲率超限停车的bug (details)
501. fix:曲率超限停车的bug (details)
502. feat: add CalcKappaCostSigmoid. (details)
503. fix: SSEP: 集卡进停车位时时候更严格的挂车角度 (details)
504. fix:travel out 没有一次规划，状态机切换的bug (details)
505. feat:travel out 没有一次规划的适配 (details)
506. fix:travel out 没有一次规划，状态机切换的bug (details)
507. fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。 (details)
508. feat:万道内pjpo路径跳变以及变道的bug修复 (details)
509. fix: using ssep speed_limit for deviation. (details)
510. fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。 (details)
511. fix:解决合并代码需要重新编译的问题 (details)
512. fix:解决合并代码需要重新编译的问题 (details)
513. fix: SSEP: 修复前杠倒车进料堆优化失败的问题。 (details)
514. fix:修复拼接的bug (details)
515. fix:修复拼接的bug (details)
516. fix: wbca reversing bug. (details)
517. refactor调整切换lock的阈值 (details)
518. feat:锁站场景不膨胀尺寸 (details)
519. refactor调整切换lock的阈值 (details)
520. feat:锁站场景不膨胀尺寸 (details)
521. fix:代码合并的bug (details)
522. fix: minimize esdf_map (details)
523. fix:修复崩溃的bug (details)
524. fix:修复崩溃的bug (details)
525. fix: dx_norm = path_1_tmp.norm (details)
526. fix: merge wbca_v2. using soft_min collision cost for truck. (details)
527. feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。 (details)
528. feat:进堆场边界优化 (details)
529. fix:ssep搜索失败的bug (details)
530. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 (details)
531. fix: wbca ignores ref_pts out of range. (details)
532. fix:修复出停车位ssep路径方向的bug (details)
533. fix:sweep路径的bug (details)
534. feat:界面添加障碍物类别的显示 (details)
535. feat:优化云端障碍物的赋值 (details)
536. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 (details)
537. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 (details)
538. chore: SSEP: Car车型多段倒车参数调整 (details)
539. fix:修复出停车位ssep路径方向的bug (details)
540. fix:sweep路径的bug (details)
541. feat:界面添加障碍物类别的显示 (details)
542. feat:优化云端障碍物的赋值 (details)
543. fix: 修复威海car bulkout场景进错的问题 (details)
544. fix: typo (details)
545. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 (details)
546. feat:1.根据堆场的偏移信息确定堆场相对道路的为位置。2.根据堆场位置调整约束 (details)
547. feat:动态搜索考虑不可形式区域 (details)
548. feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。 (details)
549. feat: SSEP: 可视化增加地图元素显示 (details)
550. feat: add repowiki by qoder (details)
551. fix:终点在堆场出口，边界的bug (details)
552. chore: SSEP: minor updates (details)
553. fix: no_shift region around destination. (details)
554. feat:调整 hfsm status中cur lane id的逻辑 (details)
555. fix: deviation speed limit bug. (details)
556. feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。 (details)
557. Refactor: SSEP: 用aabox替换vector<double>表示search bounds (details)
558. fix: truck wbca replayer debug. (details)
559. fix: truck wbca replayer debug. (details)
560. feat:优化cur laneid的赋值 (details)
561. chore: SSEP: Improve bidirectional search (details)
562. fix: fix compile errors (details)
563. fix: using wbca failed_count to deactivate history. (details)
564. fix: merge bug. (details)
565. fix:搜索起点太远的问题 (details)
566. fix: SSEP: 解决集卡常规场景轨迹异常的问题 (details)
567. fix: cfg_static bug (details)
568. fix: replayer bug (details)
569. fix: SSEP: 修复IMV出停车位路径异常的问题 (details)
570. fix:imv进停车位双向搜索的bug (details)
571. fix:切换到idle保持状态的bug (details)
572. feat:苏溪,西联,董分 双向搜索的bug (details)
573. chore:添加gitgnore (details)
574. fix:驾驶走廊图构建的bug (details)
575. chore:删除多余的log (details)
576. feat:调整 float to half (details)
577. feat:适配新的region (details)
578. feat:终点距离的判断使用map distance (details)
579. feat:终点距离的判断使用map distance (details)
580. fix:imv进停车位双向搜索的bug (details)
581. fix:切换到idle保持状态的bug (details)
582. feat:苏溪,西联,董分 双向搜索的bug (details)
583. chore:添加gitgnore (details)
584. fix:驾驶走廊图构建的bug (details)
585. chore:删除多余的log (details)
586. feat:调整 float to half (details)
587. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
588. fix:修复动态上下面过程中，提前切换到bulk场景的bug (details)
589. fix: ogm.height/width (details)
590. fix: ogm.height/width (details)
591. feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 (details)
592. chore: SSEP-GPU: 通过所有测试用例 (details)
593. chore: SSEP: gpu search 性能优化 (details)
594. chore: SSEP: 同步ssep的imv进充电桩的更新 (details)
595. feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。 (details)
596. fix: SSEP: 修复回归测试失败的场景 (details)
597. fix: SSEP: 解决集卡普通搜索画龙的问题 (details)
598. fix:修复变道过程中，更新laneid的bug (details)
599. refactor:出堆场的起始点从参考线上选取 (details)
600. feat: 添加lowbag 判断函数 (details)
601. fix: clear path_optimization_task esdf his. (details)
602. feat: SSEP: 增加万能参数接口 (details)
603. feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。 (details)
604. chore: SSEP: 改进自卸车多段倒车 (details)
605. feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 (details)
606. feat:添加clangd的配置文件 (details)
607. fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题 (details)
608. feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行 (details)
609. fix: smooth logic (details)
610. fix: SSEP: 解决进堆场画龙 (details)
611. fix:调整大谢进堆场路径 (details)
612. feat:规划路径和ssep路径不一致的问题分析 (details)
613. feat:适配clang (details)
614. chore: SSEP: 大榭只优化一次 (details)
615. refactor:适配clang编译 (details)
616. feat:赋值的bug (details)
617. fix:适配clang的bug (details)
618. fix:修复甩正点的bug (details)
619. feat:适配clang (details)
620. feat:甩正点距离适配 (details)
621. fix:修复甩正点的bug (details)
622. fix:修复路径跳变的bug (details)
623. fix: using LD v1 (details)
624. feat:适配大谢右转进堆场 (details)
625. feat:适配大谢右转进堆场 (details)
626. feat: ssep 威海多段倒车支持按键拉直功能 (details)
627. feat:适配缩小根据距离 (details)
628. feat:调整counter和进堆场障碍物考虑的条件 (details)
629. feat:单车道区分左右边界 (details)
630. fix:大谢单车道，低贝位判断的bug (details)
631. fix: del omp.h (details)
632. feat:搜索尺寸参数赋值 (details)
633. fix:车辆参数赋值错误的bug (details)
634. fix: smooth mode in yard. (details)
635. fix: smooth mode in yard. (details)
636. feat:调整counter和进堆场障碍物考虑的条件 (details)
637. feat:适配缩小根据距离 (details)
638. feat:单车道区分左右边界 (details)
639. fix:大谢单车道，低贝位判断的bug (details)
640. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 (details)
641. fix: SSEP: fix GPU search bug (details)
642. feat:优化进堆场的约束 (details)
643. feat:into 都使用双向搜索 (details)
644. feat:龙门吊位置计算的bug (details)
645. feat:into 都使用双向搜索 (details)
646. feat:龙门吊位置计算的bug (details)
647. feat:优化进堆场的约束 (details)
648. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
649. feat:适配 utrun掉头 (details)
650. chore:修复.gitignore (details)
651. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 (details)
652. fix: SSEP: fix GPU search bug (details)
653. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 (details)
654. feat:添加通过lane id 配置不绕行区域的功能 (details)
655. feat:大谢进堆场配置甩正的位置 (details)
656. feat:适配 utrun掉头 (details)
657. feat:添加通过lane id 配置不绕行区域的功能 (details)
658. feat:适配大谢右转进堆场 (details)
659. feat:适配缩小根据距离 (details)
660. feat:调整counter和进堆场障碍物考虑的条件 (details)
661. feat:单车道区分左右边界 (details)
662. fix:大谢单车道，低贝位判断的bug (details)
663. feat:优化进堆场的约束 (details)
664. feat:龙门吊位置计算的bug (details)
665. Auto stash before cherrypick of "feat:龙门吊位置计算的bug" (details)
666. chore:修复.gitignore (details)
667. feat:大谢进堆场配置甩正的位置 (details)
668. fix: SSEP: 解决gpu编译问题 (details)
669. fix: SSEP: gpu compile error (details)
670. fix:修复编译报错 (details)
671. fix:修复编译报错 (details)
672. feat:修复编译的warning (details)
673. fix: SSEP: 修复“最后一段不检测碰撞”功能遗漏的提交 (details)
674. chore: SSEP: update unit tests (details)
675. fix: SSEP: 修复地图元素"is_closed"标志位转换错误的问题 (details)
676. feat:编译warnig (details)
677. feat:锁站限速过滤 (details)
678. fix: using smooth mode when opt failed. (details)
679. fix: SSEP: 修复路径距离参考线太远的问题。 (details)
680. fix: SSEP: 修复集卡多段倒车搜索的参数配置错误 (details)
681. feat:添加忽略文件 (details)
682. fix: SSEP: 修复车道线被处理为闭合多边形的bug（太阳纸业搜索失败），修复imv 进停车位因为终点约束导致路径异常的问题。 (details)
683. feat:align过程中,拒绝直线步进 (details)
684. fix:程序启动直接搜索带来的崩溃问题 (details)
685. chore: SSEP: 改进集卡多段倒车拉直轨迹 (details)
686. chore: SSEP: 提升GPU进堆场搜索成功率 (details)
687. feat:修复搜索失败报警的等级 (details)
688. feat:编译包warning的bug (details)
689. feat:进堆场约束调整，并且调整low bay type (details)
690. fix:修复虚拟场桥低贝判断的bug (details)
691. feat:添加忽略文件 (details)
692. feat:align过程中,拒绝直线步进 (details)
693. fix:程序启动直接搜索带来的崩溃问题 (details)
694. feat:修复搜索失败报警的等级 (details)
695. feat:编译包warning的bug (details)
696. feat:进堆场约束调整，并且调整low bay type (details)
697. fix:修复虚拟场桥低贝判断的bug (details)
698. chore: ssep: 高贝位进堆场时，只在终点的道路边界侧添加约束。 (details)
699. fix:修复编译报错的bug (details)
700. fix: SSEP: 固定编译时的依赖顺序 (details)
701. fix: SSEP: 固定编译时的依赖顺序 (details)
702. fix: SSEP: 固定编译时的依赖顺序 (details)
703. chore: SSEP: 改进多段倒车拉直轨迹 (details)
704. feat:缩短跟车距离的优化 (details)
705. refactor:优化起始点的选择 (details)
706. feat:优化杨浦进单侧堆场的边界 (details)
707. feat:打开预测消息的发送 (details)
708. feat:参考线不实时刷新的bug (details)
709. feat:云端预测轨迹s赋值的bug (details)
710. fix:修复崩溃的bug (details)
711. fix:调整debug 字段 (details)
712. feat:添加进堆场的超视距障碍物 (details)
713. fix:修复起始点车辆有转角，路径异常的bug (details)
714. feat: SSEP: 增加头部不参与优化的区域设置接口。 (details)
715. fix: SSEP: 修复集卡普通搜索路径起点位于极窄的通道时路径可能画龙的问题 (details)
716. fix: using maximum speed (details)
717. fix:修复openspace 误重规划的bug (details)
718. feat: Add truck multi seg planner (details)
719. feat: SSEP: 刚性卡车搜索终点匹配从车道匹配改为参考线匹配 (details)
720. fix:极限变道 replan的bug (details)
721. refactor:删除多余的日志打印 (details)
722. fix: smooth mode bug (details)
723. fix:优化动态下码头面搜索终点选取的问题 (details)
724. refactor:优化杨浦低贝位约束 (details)
725. feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。 (details)
726. chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物 (details)
727. feat:添加 Yard Name的显示 (details)
728. feat:终点低贝位 缩小挂甩正的角度 (details)
729. feat:变道搜索搜索失败不停车 (details)
730. feat:大谢右转进堆场添加参数，适配仿真场景 (details)
731. feat:更改reuse的次数 (details)
732. fix: SSEP: 解决高贝位进堆场轨迹异常的问题 (details)
733. feat:右转进低贝位拉值角度调整 (details)
734. feat:卡车 车辆方向修改为路径方向 (details)
735. fix: SSEP: 修复集卡普通搜索启发项错误的问题 (details)
736. fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹 (details)
737. fix: SSEP: 回退集卡普通进堆场“超近道”的问题 (details)
738. feat:进堆场偏离参考线过多，不触发禁停的bug (details)
739. feat:进堆场口的限速参数独立出来 (details)
740. feat:区分堆场的偏移和场桥的偏移 (details)
741. feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。 (details)
742. feat:添加junctionid的显示 (details)
743. feat:没有岸桥碰撞的时候也打开岸桥搜索。 然后根据是否碰撞切换进入场景的距离 (details)
744. fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题 (details)
745. feat: SSEP: 非低贝位进堆场使用拉直点逻辑 (details)
746. feat:龙须点碰撞检测添加开关 (details)
747. refactor:1.调整进堆场的限速  2. 调整低贝位的距离 (details)
748. feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。 (details)
749. fix:无法三次对准的bug (details)
750. fix: SSEP: 集卡普通搜索使用更严格的车挂判断标准。防止后续优化不收敛。 (details)
751. feat:优化og点的碰撞检测 (details)
752. fix: SSEP: 修复动态搜索使用standby guideline作为参考线轨迹异常的问题 (details)
753. fix: 优化友谊关倒车路径，更符合pass point (details)
754. feat:1. ogm精细碰撞检测添加开关2. ogm高度 分层 添加更多层3.进堆场过程中，xx重新规划，扩展边界，解决pjpo求解失败的问题4.添加进堆场虚拟停止线附近的限速 (details)
755. feat:bulk场景判断的距离阈值调整成255米 (details)
756. feat:单侧堆场默认左侧放箱子 (details)
757. feat:进堆场 不是低贝位i的时候取消外侧的约束 (details)
758. fix: 优化友谊关倒车路径，更符合pass point (details)
759. fix: SSEP: 优化集卡非低贝位进堆场路径。全路径开启keb优化+终点扰动。恢复上个版本可以“小角度斜着进堆场”的特性。 (details)
760. fix: SSEP: fix typo (details)
761. feat:优化og的处理 (details)
762. fix:修复绘制的bug (details)
763. fix: SSEP: 提升远距离绕桥腿成功率 (details)
764. feat:杨浦适配B场 (details)
765. feat: 1. 绕跷腿搜索标志位 2.右转进堆场的强制用约束的标志位 (details)
766. feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 (details)
767. chore: mionr update (details)
768. fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug (details)
769. fix:3 4 阶段对准时,不能切换creep的bug (details)
770. feat:og碰撞的优化 (details)
771. feat:进堆场的优化 (details)
772. feat:关闭debug信息 (details)
773. feat: SSEP: 增加场景编辑工具 (details)
774. feat:junction弯道区间计算的bug (details)
775. feat:纵一路边上的转场临停修改判断阈值 (details)
776. fix:修复误变道的问题 (details)
777. chore: SSEP: update scene editor server (details)
778. fix: SSEP: 改进多段倒车场景的启发项，解决威海更换pass point后搜索成功率低的问题。 (details)
779. feat: SSEP: 多段倒车忽略终点附近障碍物。提升威海倒车成功率 (details)
780. feat:搜索的时候是否考虑静态障碍物添加开开关 (details)
781. chore: SSEP: Fix mult-segment searching params. (details)
782. fix:龙须点处理的bug (details)
783. fix:修复龙须点处理的bug (details)
784. feat:调整单车道堆场的约束 (details)
785. fix:没有路径，并且在弯道前，ssep无法搜索的bug (details)
786. feat:优化场桥防护 (details)
787. feat:修改对准数据的打印 (details)
788. feat: SSEP: 使用多项式采样器生成变道路径 (details)
789. fix: lattice wbca velocity reference bug. (details)
790. fix: lattice wbca velocity reference bug. (details)
791. fix:杨浦堆场入口重搜索的bug (details)
792. refactor:优化打印日志 (details)
793. fix: send 50m path to control in bulk state. (details)
794. fix: delete submodules (details)
795. feat: 添加更多忽略文件到.gitignore (details)
796. chore: SSEP: 1. 变道场景使用更严格的车挂碰撞判断。2. 过滤超过曲率上限的路径。 (details)
797. fix: 修复边界约束逻辑并优化障碍物处理代码 (details)
798. chore: SSEP: merge 集卡进堆场的新改动 (details)
799. fix: 优化障碍物处理逻辑，过滤不必要的障碍物类型 (details)
800. fix: 优化OgmPoints序列化，过滤无效点并调整序列化方法 (details)
801. fix: 杨浦 调整虚拟车道与第一排箱体的距离和左侧后退延伸长度 (details)
802. fix: 优化SubProcessIdle逻辑，增加对引导线信息可用性的检查，防止没有识别低贝位就进行搜索的bug (details)
803. fix: serailize params for wbca (details)
804. fix: SSEP: 修复反向路径拖挂角度错误的问题 (details)
805. feat: 1.添加OgmCollisionPos绘制功能，增强碰撞检测可视化 2.replayer 添加og碰撞检测的回放功能 (details)
806. fix: wbca params serialization bug (details)
807. fix: 注释掉日志记录代码以减少输出干扰 (details)
808. feat: SSEP: 完善网页可视化。现在在网页上可以可视化所有元素并任意调整分辨率。 (details)
809. fix: build bug (details)
810. fix: Trajectory MatchByt bug. (details)
811. fix: Trajectory MatchByt bug. (details)
812. fix: build bug (details)
813. chore: SSEP: 搜索使用障碍物软约束，提升自卸车进出堆场极限场景的搜索成功率。 (details)
814. chore: SSEP: 过滤无效的采样轨迹，提高进堆场搜索成功率 (details)
815. chore: SSEP: 处理掉头场景终点在standby_guideline上的情况 (details)
816. feat: 添加镜子配置和绘制功能 (details)
817. feat: 优化JudgeFinishAlign函数，简化FSM接口调用，增强对齐完成判断逻辑 (details)
818. feat: 优化低贝激活判断逻辑，简化条件判断，提高代码可读性 (details)
819. fix: 移除不必要的日志警告，优化代码逻辑 (details)
820. chore: SSEP: 掉头进堆场时增加参考线权重 (details)
821. 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)
822. fix: 更新YANGPU虚拟车道到第一排箱子的阈值，修正为0.0 (details)
823. fix: 修正右侧车道拉直点阈值为2.0度 (details)
824. fix:进堆场终点距离计算的bug (details)
825. feat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。 (details)
826. fix: 优化地图包围体和在线区域轮廓创建逻辑,修复潜在的空指针和多边形合并问题 (details)
827. fix: 修正OgmCollisionPos函数中的颜色定义注释，确保颜色代码清晰 (details)
828. feat:添加挂车的上层纵向参数 (details)
829. fix: 简化UpdateCurLaneData函数中的当前和目标车道索引更新逻辑 (details)
830. fix: 优化ConstructStartAndEndContour和ConstructEndStraightPosture函数中的逻辑，增加双车道距离补偿 (details)
831. fix: 调整GetExtendPoint函数中的扩展点计算逻辑，增加扩展距离；优化在线区域轮廓创建逻辑，增加多边形连接性检查和简化处理 (details)
832. feat: Keb optimizer task 单线程功能完成 (details)
833. feat: Keb path optimize task 支持异步（多线程）模式。 (details)
834. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
835. feat: 添加PncGraphicsView类以支持图像显示和交互功能；更新相关文件以替换DragImage (details)
836. fix: 调整ConstructEndPosture函数中的扩展距离逻辑，将TT类型的扩展距离从20.0增加到25.0 (details)
837. fix: 取消CalRefPtsKappa函数中的注释，启用航向角计算逻辑 (details)
838. feat: 添加测量功能，支持在PncGraphicsView中显示测量线和文本；更新鼠标事件处理逻辑以支持控制键测量 (details)
839. fix: 注释掉DrawTargetPath函数中的轮廓生成和绘制逻辑 (details)
840. fix: 修复EgoExpanding类中VertexExpanding函数的除零错误；更新KinematicBicycleModel类中TrailerPtFromTractorPt函数的代码格式 (details)
841. fix: wbca path fluctuation problem. (details)
842. chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy. (details)
843. fix: add wbca min_start_velocity (details)
844. feat: 添加获取弯道前车道ID的功能，并在SwitchData中更新相关逻辑, 解决变道时，参考线跳变的问题 (details)
845. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
846. chore: Keb-Path-Opt-Task 调优，缩放道路边界，调整多边形障碍物参数等。 (details)
847. refactor:优化包略框的合并 ，以及优化耗时 (details)
848. feat: 在CreateContour中添加时间记录，优化轮廓构建过程 (details)
849. feat: 更新参数设置，调整前向和侧向扩展长度以优化空间计算 (details)
850. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
851. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
852. fix: wbca path fluctuation problem. (details)
853. fix: add wbca min_start_velocity (details)
854. feat: 增强在线区域轮廓创建失败时的回退逻辑，确保使用基础多边形作为后备 (details)
855. fix: wbca crab mode condition opt. (details)
856. chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点 (details)
857. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
858. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
859. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
860. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
861. fix:进充电桩场景切换的bug (details)
862. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
863. fix:进充电桩场景切换的bug (details)
864. feat: 添加IsAvailable方法以验证轨迹数据的有效性 (details)
865. fix: 修复StitchSsepReferenceLine方法中的路径段验证逻辑 (details)
866. feat: 添加角度显示功能，增强PncGraphicsView的交互性 (details)
867. fix:修复误进入openspace的bug (details)
868. fix:修复误进入openspace的bug (details)
869. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
870. feat: add smooth_mode_wbca_params (details)
871. fix: smooth_mode_wbca_params bug (details)
872. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
873. fix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。 (details)
874. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
875. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
876. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
877. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
878. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
879. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
880. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
881. fix: imv wbca end velocity bug. (details)
882. fix: l_bfgs optimization. (details)
883. 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)
884. feat: 添加Keb路径优化任务的执行和重置功能，并更新场景接口 (details)
885. feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑 (details)
886. fix: keb-path-optimize-task 优化低贝位挂车不直的问题 (details)
887. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
888. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
889. 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)
890. chore: keb-path-optimize-task finetune. (details)
891. chore: 优化keb-path-optimize-task进堆场效果 (details)
892. chore: keb param adjust (details)
893. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
894. fix: keb task finetune (details)
895. chore: keb task 关键参数提取 (details)
896. fix: l_bfgs optimization. (details)
897. fix: SSEP: 进堆场优化用终点硬约束 (details)
898. chore: keb-task 使用终点约束 (details)
899. feat:暂时关闭参考线拼接 theta重新计算的逻辑 (details)
900. feat: add shift_type_ignoring_no_shift_region (details)
901. feat: keb task: 1. 实时优化增加拉直点功能。2. 滤除偏离参考线太远的轨迹 (details)
902. fix: 修复集卡优化器终点可能超过拖挂角度限制的问题 (details)
903. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
904. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
905. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
906. fix:修复guidelien 中 overlap计算的bug (details)
907. fix: imv smooth_mode bug (details)
908. fix: imv start_pt bug (details)
909. fix:修复拼接ssep结果后，junction overlap 生成的bug (details)
910. feat: 添加 实时的终点边界约束和拉值约束， 然后 终点约束使用使用实时约束 (details)
911. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
912. refactor: 注释掉低贝位作业相关的代码逻辑 (details)
913. fix: 更新镜子相关参数的命名空间前缀为/pnc_node (details)
914. fix:修复崩溃的bug (details)
915. feat: 添加自动获取大谢终点约束的功能 (details)
916. feat: 添加搜索起点框的功能并优化车辆框生成逻辑 (details)
917. fix: 更新GetLatPoint函数以考虑LKA控制模式 (details)
918. fix:虚拟停止线构建的bug (details)
919. fix: 修正DrawUpperHead函数中镜子高度计算错误 (details)
920. fix: 调整自动构建结束直线姿态和终点扩展长度的计算逻辑 (details)
921. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
922. feat: SSEP: 进堆场跑通无搜索规划 (details)
923. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
924. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
925. fix: road segment splitting bug. (details)
926. refact: GetRoadSegmentFirstSplitPos (details)
927. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
928. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
929. feat: SSEP: 进堆场跑通无搜索规划 (details)
930. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
931. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
932. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
933. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
934. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
935. feat: lka deviation after crane (details)
936. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
937. chore: keb task 增加最大转向角余量 (details)
938. feat: 优化overlap s重计算，增加起始和结束点的有效性检查 (details)
939. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
940. fix: keb task ssep_end_s_ 赋值错误 (details)
941. feat: 添加状态机切换时间参数并优化相关逻辑 (details)
942. feat: 添加根据堆场内的车道名称扩展安全阈值 (details)
943. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
944. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
945. feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 (details)
946. feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算 (details)
947. feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑 (details)
948. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
949. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
950. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
951. feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度 (details)
952. feat: 杨浦 B003 B004适配 (details)
953. feat: yard name verification. (details)
954. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
955. feat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中 (details)
956. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
957. fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 (details)
958. 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)
959. feat:杨浦低贝位适配 (details)
960. feat:合并ssep更改 (details)
961. feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑 (details)
962. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
963. feat:适配友谊关进停车的拉正距离 (details)
964. fix: disable default LKA deviation. (details)
965. fix: lka deviation bug (details)
966. feat: add lbfgs prevous version. (details)
967. feat: 苏溪调箱门场景适配 (details)
968. feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑 (details)
969. refactor:优化 停止线所属junction的判断逻辑 (details)
970. feat:合并ssep更改 (details)
971. fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug (details)
972. fix: filter wbca path by cost (details)
973. fix: add switch for lbfgs to lbfgs_new (details)
974. fix: using new l_bfgs (details)
975. fix: cost filter for imv and truck (details)
976. fix: activate wbca smooth mode in align fsm. (details)
977. feat:直道地图包络构建的优化 (details)
978. feat: （动态搜索的box框),优化生成平行框的距离计算逻辑 (details)
979. fix: 更新DrawObject函数中的颜色值注释 (details)
980. fix: filter wbca cost without collision cost. (details)
981. fix: LKA deviation for out_yard (details)
982. feat:调整换向缩小安全距离的阈值 (details)
983. fix:修复变道的约束 (details)
984. feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑 (details)
985. fix: cloud areas avoidence. (details)
986. refactor:朝海侧，右转横二路，边界优化 (details)
987. refactor:极限变道约束优化 (details)
988. refactor: openspace中的参考线为pnc引导线 (details)
989. fix:imv下码头搜索失败的bug (details)
990. fix: 修复imv普通搜索参考线错误的问题 (details)
991. fix:修复反向出停车位的bug (details)
992. fix:修复停止线绑定juntion的bug (details)
993. refactor:优化场桥转场判断 (details)
994. refctor:优化转场场桥box的使用 (details)
995. feat: 添加忽略障碍物的阈值配置并优化相关逻辑 (details)
996. fix: pnc_map splitting error. (details)
997. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
998. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
999. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
1000. fix:极限变道不replan的bug (details)
1001. fix: 优化SmoothTask执行逻辑，增加对特定条件的处理 (details)
1002. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
1003. refactor:优化小地图绘制时间过长的问题 (details)
1004. feat: 添加点云底图加载功能，支持异步加载和清除操作 (details)
1005. feat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能 (details)
1006. feat:接受云端的发送的终点前N米障碍不绕行的参数 (details)
1007. fix: fiter cost_beta (details)
1008. feat: trust-region solver based WBCA (details)
1009. fix: max_ref_len 60 (details)
1010. feat:fsm interface 里面添加 开始对准是终点距离的接口 (details)
1011. fix:align done 情况下还可以继续走的bug (details)
1012. fix:停车原因赋值错误的bug (details)
1013. feat: 添加对值阈值和条件，优化对准决策逻辑 (details)
1014. fix: 添加路径点数量检查，确保至少有两个点以创建路径 (details)
1015. feat:1.添加耗时显示2.优化绘制界面 map的绘制 (details)
1016. fix:一次规划，单个车道分段时， 路径冲突判断的bug (details)
1017. refactor: 注释掉不必要的代码，简化判断逻辑 (details)
1018. refactor:优化ssep passing pt的赋值 (details)
1019. fix: wbca smooth path is exception in align state (details)
1020. feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑 (details)
1021. refactor: 简化pass_posture_的赋值逻辑 (details)
1022. fix: straight lane near crane and lock_station (details)
1023. refactor:优化界面耗时 (details)
1024. feat:调整9861的跟车距离 (details)

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