Changes

#327 (Nov 19, 2025 12:09:14 PM)

1. feat_out: adjust params for calibration — matao / detail

#327 (Nov 19, 2025 12:09:14 PM)

1. feat:添加多次步进的功能 — wuyanjun110 / detail
2. fix:修复终点前变道的bug — wuyanjun110 / detail
3. feat:添加参数 直行的junction 是否用路口的边界 — wuyanjun110 / detail
4. refactor:删除打印日志 — wuyanjun110 / detail
5. fix:road 级别的可行驶范围的bug — wuyanjun110 / detail
6. feat:适配董分进堆场边界 — wuyanjun110 / detail
7. fix:修复封路变道的bug — wuyanjun110 / detail
8. fix:引桥前变道的bug — wuyanjun110 / detail
9. fix:可能崩溃的bug — wuyanjun110 / detail
10. fix:变道的bug — wuyanjun110 / detail
11. fix:适配open space 场景 — wuyanjun110 / detail
12. fix:人工对准误创建约束 — wuyanjun110 / detail
13. feat:open space的优化 — wuyanjun110 / detail
14. refactor:直线步进 优化步进时间 — wuyanjun110 / detail
15. refactor:直线步进 优化步进时间 — wuyanjun110 / detail
16. fix: add wbca debug var. — 5081703.cr / detail
17. fix: add lateral acc cost. — 5081703.cr / detail
18. fix: add wbca cost and time_consuming. — 5081703.cr / detail
19. fix:修复代码合并的bug — wuyanjun110 / detail
20. fix: pub lane_pts debug msg. — 5081703.cr / detail
21. feat:暂时可以调试 — wuyanjun110 / detail
22. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） — tangwenqing / detail
23. feat: SSEP: 增加集卡多段倒车场景 — tangwenqing / detail
24. fix: SSEP: Resolve crashing issue. — tangwenqing / detail
25. fix: SSEP: Resolve crashing issue. — tangwenqing / detail
26. feat: add distance2bend — 5081703.cr / detail
27. fix: WBCA lane change path — 5081703.cr / detail
28. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE — 5081703.cr / detail
29. feat:适配状态机场景 — wuyanjun110 / detail
30. feat: WBCA serialization for debug. — 5081703.cr / detail
31. fix: using history_pts for lattice velocity reference. — 5081703.cr / detail
32. fix: use_func_use_wbca_speed_limit = true — 5081703.cr / detail
33. fix: using history_pts for lattice velocity reference. — 5081703.cr / detail
34. feat: SSEP: 增加引导线跟随模式搜索 — tangwenqing / detail
35. feat: ssep适配脱困模式 — tangwenqing / detail
36. feat:boost 编译错误 — wuyanjun110 / detail
37. fix: SSEP: 修复引导线跟随搜索的一些bug — tangwenqing / detail
38. fix: lateral acceleration parameters. — 5081703.cr / detail
39. fix: ComputeLonGuideVelFromLatAcc — 5081703.cr / detail
40. feat: clear align times when align2nd to align1st. — 5081703.cr / detail
41. feat: clear align times when align2nd to align1st. — 5081703.cr / detail
42. feat:脱离模式 路径切换的适配 — wuyanjun110 / detail
43. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 — tangwenqing / detail
44. feat: SSEP: 增加引导线跟随模式搜索 — tangwenqing / detail
45. fix: SSEP: 修复引导线跟随搜索的一些bug — tangwenqing / detail
46. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 — tangwenqing / detail
47. fix: lon_decision for car. — 5081703.cr / detail
48. feat:cut ego 添加参数 — wuyanjun110 / detail
49. feat:适配新的障碍物类型 — wuyanjun110 / detail
50. fix: lon_decision for car. — 5081703.cr / detail
51. feat:脱困模式，适配重搜索逻辑以及地图版本校验 — wuyanjun110 / detail
52. feat:cut ego 添加参数 — wuyanjun110 / detail
53. feat:适配新的障碍物类型 — wuyanjun110 / detail
54. fix: add min_turn_radius — 5081703.cr / detail
55. fix: add lattice_velocity_reference_mode — chenran / detail
56. fix: disable wbca debug mode. — chenran / detail
57. fix: max_lat_acc in wbca params — chenran / detail
58. fix: ignore dynamic obstacle in risk evaluation. — chenran / detail
59. fix:调整危险限速距离的bug — wuyanjun110 / detail
60. feat:调整状态机 — wuyanjun110 / detail
61. feat:远程步步进，停车时间参数化 — wuyanjun110 / detail
62. fix:调整危险限速距离的bug — wuyanjun110 / detail
63. feat:远程步步进，停车时间参数化 — wuyanjun110 / detail
64. fix_out: lat_acc_baed ref vel cal error. add debug msg. — chenran / detail
65. fix:修复因为距离阈值，带来场景识别错误的bug — wuyanjun110 / detail
66. fix: bug — chenran / detail
67. fix: disable wbca_debug mode. — chenran / detail
68. fix:修复终点距离计算的bug — wuyanjun110 / detail
69. chore(format):格式 — wuyanjun110 / detail
70. chore: 适配remote guide line变更 — tangwenqing / detail
71. fix:修复海润进弯道后第一个停车位停不正的bug — wuyanjun110 / detail
72. fix: delete log. — chenran / detail
73. enable ssep_heat_net (tmp commit) — tangwenqing / detail
74. fix:修复误触发open space的bug — wuyanjun110 / detail
75. fix: SSEP: 修复IMV进充电桩方向错误的问题 — tangwenqing / detail
76. fix: delete log — chenran / detail
77. feat: SSEP: 完成 learning-based 进出堆场口搜索全流程 — tangwenqing / detail
78. feat: 适配ssep learning-based 进出堆场口 — tangwenqing / detail
79. feat:执行remote后进入stop auto — wuyanjun110 / detail
80. feat:添加obj障碍物的跟车距离 — wuyanjun110 / detail
81. refactor:优化bulk场景的限速 — wuyanjun110 / detail
82. 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。 — tangwenqing / detail
83. chore: SSEP: Add some printos. — tangwenqing / detail
84. fix:修复park lock 切换 park out， 不重搜索的bug — wuyanjun110 / detail
85. 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
86. feat:添加obj障碍物的跟车距离 — wuyanjun110 / detail
87. refactor:优化跟车距离 — wuyanjun110 / detail
88. refactor:优化跟车距离 — wuyanjun110 / detail
89. chore: SSEP: use standard out stream. — tangwenqing / detail
90. fix: 解决未安装cuda的系统编译失败的问题。 — tangwenqing / detail
91. fix:临时修复重搜索的bug — wuyanjun110 / detail
92. refactor:优化动态搜索限速 — wuyanjun110 / detail
93. feat: SSEP: 重规划时先考虑复用优化上一条轨迹 — tangwenqing / detail
94. feat: SSEP重规划时复用轨迹 — tangwenqing / detail
95. fix:修复replayer编译失败的bug — wuyanjun110 / detail
96. fix: disable dynamic and steering speed constraints — 5081703.cr / detail
97. fix: add min_velocity_coefficient_for_velocity_cost. — 5081703.cr / detail
98. feat:添加障碍物靠近警报的功能 — wuyanjun110 / detail
99. feat:添加障碍物靠近警报的功能 — wuyanjun110 / detail
100. fix:修复出堆场过程中， travel out场景退出的bug — wuyanjun110 / detail
101. fix: bulk场景 进出堆场限速的bug — wuyanjun110 / detail
102. feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。 — tangwenqing / detail
103. refactor:优化动态搜索限速 — wuyanjun110 / detail
104. feat:添加障碍物靠近警报的功能 — wuyanjun110 / detail
105. fix:修复出堆场过程中， travel out场景退出的bug — wuyanjun110 / detail
106. fix: bulk场景 进出堆场限速的bug — wuyanjun110 / detail
107. fix:优化不绕行和搜索停车的问题 — wuyanjun110 / detail
108. fix:保存任务时，当前定位保存错误的bug — wuyanjun110 / detail
109. fix:合并的bug — wuyanjun110 / detail
110. chore: SSEP: minor params finetune. — tangwenqing / detail
111. feat: 海润适配新imv搜索器 — tangwenqing / detail
112. fix: crash issue. — 5081703.cr / detail
113. fix: SSEP: 修复集卡进堆场轨迹绕圈问题 — tangwenqing / detail
114. feat: ogm聚类时使用多边形代替原来的线段障碍物 — tangwenqing / detail
115. chore: SSEP: — tangwenqing / detail
116. 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。 — tangwenqing / detail
117. chore: SSEP: imv optimizer参数调试 — tangwenqing / detail
118. fix: 救援模式下，无法取消任务的bug — wuyanjun110 / detail
119. fix:状态机切换的bug — wuyanjun110 / detail
120. fix:修复带有bulk 途经点， opensspce 不搜索的bug — wuyanjun110 / detail
121. 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。 — tangwenqing / detail
122. chore: 适配ssep重构 — tangwenqing / detail
123. chore: SSEP: minor adjustments — tangwenqing / detail
124. 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。 — tangwenqing / detail
125. chore: SSEP: 增加打印信息，修复一些小错误。 — tangwenqing / detail
126. feat:适配直线步进，根据ttc进行碰撞检测的功能 — wuyanjun110 / detail
127. fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug — wuyanjun110 / detail
128. fix:向后直线步进的bug — wuyanjun110 / detail
129. fix:向后直线步进的bug — wuyanjun110 / detail
130. fix:修复合并的bug — wuyanjun110 / detail

#327 (Nov 19, 2025 12:09:14 PM)

1. feat:安全模块接管后， 假如车辆静止或者控制控制指令不控方向盘， 不控方向盘 — wuyanjun110 / detail

#327 (Nov 19, 2025 12:09:14 PM)

1. feat_out: 若存在终点在起点前 则禁止交换起终点 — zhaozitong / detail
2. feat_out: 取消在封控区内根据车道数量不同切割passage — zhaozitong / detail
3. feat_out:  根据车道数量不同分割passage — zhaozitong / detail
4. fix_out: 切割忽略修复 — zhaozitong / detail

#326 (Nov 19, 2025 10:48:40 AM)

1. add igv yantai — hongjinjin / detail

#325 (Nov 17, 2025 11:07:03 AM)

1. note_out:车挂ego_trailer转40尺时增加40尺低分阈值约束. — tangxiao / detail
2. note_out:青威深度学习输入去除舱顶点云. — tangxiao / detail
3. note_out:威海地面分割优化(去上坡散点). — tangxiao / detail
4. note_out:修复推理代码bug. — tangxiao / detail
5. note_out:修复推理代码bug. — tangxiao / detail
6. note_out: 箱体面拟合侧边点数+长度评定侧边是否采用 — liuwenjing / detail
7. note_out: 箱体面拟合时限制内点率太低时放弃 — liuwenjing / detail
8. note_out: 一汽等车挂如果已经初始化则未检出时不信任0度 — liuwenjing / detail
9. note_out: 利用模型挂值初始化ekf时降低置信度要求 — liuwenjing / detail
10. note_out: 箱体面拟合短边点数降低 — liuwenjing / detail
11. note_out:青威无挂状态车头过滤高度提升至og点输出高度. — tangxiao / detail
12. note_out:修复bug. — tangxiao / detail
13. note_out:修改自卸车,铲车,hopper输出约定类别. — tangxiao / detail
14. note_out:统一obj输出类别值. — tangxiao / detail
15. note_out:修复输出类别增加时输入未匹配bug. — tangxiao / detail
16. note_out: pre_ekf角度和pre箱体面角都可作为本次矫正的初选范围 — liuwenjing / detail

#322 (Nov 15, 2025 6:05:43 PM)

1. note_out:车挂周散点过滤放松第一位栅格条件. — tangxiao / detail