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Changes

Summary

  1. fix: add lka log. (details)
  2. fix: dsteer constrain in lka status. (details)
  3. fix: close log. (details)
  4. fix: mpc deviation for reversing truck. (details)
  5. fix: mpc status bug. (details)
  6. feat:对准时，刹车的问题 (details)
  7. feat:使用阈值门限 (details)
  8. feat:调整对准阈值的处理 (details)
  9. fix: using plan_data to activate stationary steering. (details)
  10. fix: stationary steering bug. (details)
  11. feat:新增零偏角度辨识及补偿功能 (details)
  12. fix:更改零偏角度yaml文件的读取方式 (details)
  13. fix: crash issue (details)
  14. fix: crash issue (details)
  15. fix: 屏蔽变道时的零偏补偿 (details)
  16. feat:适配多次步进 (details)
Commit d71badd88b706b71ccb37684b6312b13409a8b96 by 5081703.cr
fix: add lka log.

The file was modifieddata/vehicle/lane_detection.cpp
The file was modifiedalgorithm/ctrl/lka/observer/kalman_observer.cpp
Commit ffbb2a6ea6e05ff48598aafaa767a5e257c90b05 by 5081703.cr
fix: dsteer constrain in lka status.

The file was modifiedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
Commit e289a2fab15835498f5f244cf9c0311d91ac2323 by 5081703.cr
fix: close log.

The file was modifiedalgorithm/ctrl/lka/observer/kalman_observer.cpp
The file was modifiednode/process/prepare/prepare_traj.cpp
Commit 667e77a32b84c6acf1894d707aca5614f9501f91 by 5081703.cr
fix: mpc deviation for reversing truck.

The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
Commit 68142a159c826f1d73d252d37154be809fad66e4 by 5081703.cr
fix: mpc status bug.

The file was modifiedalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
Commit d663245c3ba11577d64c5dae9abb973d165fa952 by wuyanjun110
feat:对准时，刹车的问题

The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 7cdf9036dc4b885aa0c3bac3af3c02916f7ec831 by wuyanjun110
feat:使用阈值门限

The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 7d2eeb7ec642aa164f6e9162ae27aa4378dede2f by wuyanjun110
feat:调整对准阈值的处理

The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit bee5190cbc27da2d79fc347af8955b16ece0a9cc by 5081703.cr
fix: using plan_data to activate stationary steering.

The file was modifieddata/plan/plan_data.hpp
The file was modifieddata/plan/plan_data.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
Commit 3f5e4f1f4cd63acd48c0685f6687bc064e568c14 by 5081703.cr
fix: stationary steering bug.

The file was modifiednode/sink/ros_sink_command.cpp
Commit b6b84cf70ee229d6840e76c971b729abf1eac958 by liuhongshuo
feat:新增零偏角度辨识及补偿功能
The file was modifiedCMakeLists.txt
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifiednode/logic.cpp
The file was addeddata/ctrl/observer_debug_data.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was addeddata/config/cfg_steering_offset_observer.cpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiednode/logic.hpp
The file was modifiednode/sink/ros_sink_ctrl_debug.cpp
The file was addeddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was addedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was addedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifiednode/CMakeLists.txt
The file was modifieddata/ctrl/lateral_cmd.hpp
The file was addeddata/ctrl/observer_debug_data.hpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was modifieddata/ctrl/lateral_cmd.cpp
The file was modifiedpackage.xml
The file was modifieddata/ctrl_frame.hpp
Commit 34f11cdc5f8d92a2a0124516a42b89bc2fa49604 by liuhongshuo
fix:更改零偏角度yaml文件的读取方式
The file was modifiednode/logic.cpp
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
Commit c2ca63b1f39faa468c1c38dc814fe2d40602445d by 5081703.cr
fix: crash issue

The file was modifieddata/plan/plan_data.cpp
Commit 1e015cff9dddc734826837e074c145638e007784 by 5081703.cr
fix: crash issue

The file was modifieddata/plan/plan_data.cpp
Commit 19a8f0893012851595f722b221118a4eda904c8f by liuhongshuo
fix: 屏蔽变道时的零偏补偿
The file was modifiednode/process/proc/proc_lateral_controller.cpp
Commit bca99ca66e6ea06c8e9c210f911950ee9a40567c by wuyanjun110
feat:适配多次步进

The file was modifieddata/plan/plan_enum_definition.hpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiedalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
The file was modifieddata/ctrl/vehicle_attr.cpp