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Changes

Summary

  1. feat_out:添加通用外设处理类 (details)
Commit 30769b7aa7608cf2cb01956722b0f39fefa81a0c by zhaojianfeng2
feat_out:添加通用外设处理类
The file was addedinclude/peripheral_controller.h
The file was modifiedsrc/peripheral_controller_node.cpp
The file was addedsrc/peripheral_controller.cpp

Summary

  1. fix: use_func_lidar_estop false. (details)
  2. fix:region切换的bug (details)
  3. fix:杨浦调整出堆场的约束 (details)
  4. fix:调整进堆场的贝塞尔引导线 (details)
  5. fix: deployment params. (details)
  6. fix: /vehicle/command (details)
  7. fix: 崩溃的bug (details)
  8. fix: lock station lka condition opt. (details)
  9. feat:更改默认参数 (details)
  10. feat:添加no shft 区域 (details)
  11. fix: imv smooth mode. (details)
  12. fix: no_shift boundary bug. (details)
  13. fix: road_bd opt. (details)
  14. fix: no deviation around destination. (details)
  15. fix: ignore imv in front of ego. (details)
Commit 9d4e43cd8452e9981fe5130dc10ab7de1e672738 by 5081703.cr
fix: use_func_lidar_estop false.

The file was modifiedlaunch/local_deployment/start_up.sh
Commit d3a15b4008e713cf6087f64b0e088165c5c55210 by wuyanjun110
fix:region切换的bug

The file was modifieddata/scenario/scenario_region_bt.cpp
The file was modifieddata/scenario/scenario_region_condition.hpp
The file was modifieddata/scenario/scenario_region_condition.cpp
Commit 81f792d99707110b50503583baa5f3548eef237c by wuyanjun110
fix:杨浦调整出堆场的约束

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit a2ff13ef2c381dfe1cdc62ec75eac3b6c8f610ad by wuyanjun110
fix:调整进堆场的贝塞尔引导线

The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit eaf3987a92a801cb3073aeb02098c80e89f25bff by 5081703.cr
fix: deployment params.

The file was modifiedlaunch/local_deployment/start_up.sh
The file was modifiedlaunch/local_deployment/control_node.launch
Commit dbf77f16c3acac16fae8dfd6c383e1a10629c711 by 5081703.cr
fix: /vehicle/command

The file was modifiedlaunch/local_deployment/plan_node.launch
Commit 6311c959a896d6d8d7aad3339dd1c884680e3f77 by 5081703.cr
fix: 崩溃的bug

The file was modifiedmath/curve1d/quartic_polynomial_curve1d.cpp
The file was modifiedmath/curve1d/quartic_polynomial_curve1d_rt.cpp
The file was modifiedmath/curve1d/quintic_polynomial_curve1d.cpp
The file was modifiedmath/curve1d/quintic_polynomial_curve1d_rt.cpp
Commit 0eb81716fdc4dff115ad4ceb25bb6de909e2f578 by 5081703.cr
fix: lock station lka condition opt.

The file was modifieddata/vehicle/lock_station_data.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/vehicle/lock_station_data.cpp
Commit 3faee737c7132a0f9e293d607345b48b604b4dd1 by wuyanjun110
feat:更改默认参数

The file was modifieddata/config/cfg_func_sw.cpp
Commit 5b869909cd67da112d1d7b5c4bd3e28f9224e7dc by wuyanjun110
feat:添加no shft 区域

The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifiedscenarios/scenario_interface.hpp
The file was modifiedscenarios/scenario.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit d34cb4866c868a2e2363149fc2e28ae23fb53a40 by 5081703.cr
fix: imv smooth mode.

The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp
The file was modifieddata/boundary/road_boundary.cpp
Commit 986197662e7f9694973f27ec509a035a489238be by 5081703.cr
fix: no_shift boundary bug.

The file was modifieddata/boundary/road_boundary.cpp
Commit 1ba40911d3d428329104b5390f81331d836c93a8 by 5081703.cr
fix: road_bd opt.

The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/boundary/road_boundary.cpp
Commit 703a386afc813bb8490b9b36ac6a688981546cad by 5081703.cr
fix: no deviation around destination.

The file was modifieddata/ctrl/lka_start_up.cpp
Commit e9795ca4ac862ac37d2ee0f475fc7cd2a60881de by 5081703.cr
fix: ignore imv in front of ego.

The file was modifieddata/boundary/driving_corridor.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp

Summary

  1. feat:临时关闭 park 态 (details)
Commit 265bc4b5032be394124c2daddd870b2a4218d12e by wuyanjun110
feat:临时关闭 park 态

The file was modifieddata/common/predict_path.cpp
The file was modifiedsource/ros_source_ogm_points.cpp

Summary

  1. fix: narrow_corridor for lock_station_pts. (details)
  2. fix: lane_points backward. (details)
  3. fix: lane_pts direction. (details)
  4. fix: qp for lock_station_pts. (details)
  5. fix: update lane_detection by lock_station_pts (details)
  6. fix: add smith observer (details)
  7. fix: add lock_staiton_pts_opt_weight (details)
  8. fix: add using_lock_station_pts_for_lka (details)
  9. fix: add log. (details)
  10. fix: lock_station_pts lka bug. (details)
  11. fix: quit LS LKA max_dis < -12 (details)
  12. feat:通过添加前馈的加速度，优化平行驾驶 (details)
  13. fix: acc_augment_mpc for parallel mode. (details)
  14. feat:添加前馈加速度补偿的系数 (details)
  15. fix: lka deviation. (details)
  16. feat:添加爬坡的补偿 (details)
  17. fix: tractor dynamic mpc. (details)
  18. fix: clear steer for backward align. (details)
  19. fix: acc_mpc for longitude controller. (details)
  20. fix: add json (details)
  21. fix: add record.sh (details)
  22. fix: is_simulator (details)
  23. fix: close acc_mpc log (details)
  24. fix: tractor_dynamic v1 (details)
  25. fix: default params. (details)
  26. fix: disable trailer_state when disable reversing truck controller. (details)
  27. fix: disable trailer_state when disable reversing truck controller. (details)
  28. fix: init lka_deviation. (details)
  29. fix: init lka_deviation within lane_keep_assist scenario. (details)
  30. fix: sink lka_deviation. (details)
  31. fix: add lka_deviation_rate (details)
  32. fix: lka error stop condition. (details)
  33. fix: disable log (details)
  34. fix: add lka_deviation_rate (details)
  35. fix: lka error stop condition. (details)
  36. fix: log lka_deviation. (details)
  37. fix: mpc_qp optimization. (details)
  38. fix: debug msg. (details)
  39. fix: using_lock_station_pts_for_lka = true (details)
  40. fix: lka_exception_detection_dheading = 3.0 (details)
Commit 75e3e9bec4a0091fb0c9e730c3ad674cbc23815a by 5081703.cr
fix: narrow_corridor for lock_station_pts.

The file was modifieddata/ctrl_frame.hpp
The file was addeddata/vehicle/lock_station_pts.cpp
The file was modifiednode/process/prepare/module.cpp
The file was addedalgorithm/ctrl/narrow_corridor/narrow_corridor.hpp
The file was addednode/process/prepare/prepare_lock_station.cpp
The file was modifieddata/config/cfg_topic.hpp
The file was addednode/source/ros_source_lock_station_pts.hpp
The file was modifieddata/config/cfg_topic.cpp
The file was addedalgorithm/ctrl/narrow_corridor/narrow_corridor.cpp
The file was addednode/source/ros_source_lock_station_pts.cpp
The file was addeddata/vehicle/lock_station_pts.hpp
The file was addednode/process/prepare/prepare_lock_station.hpp
The file was modifiednode/source/module.cpp
Commit c41c19fb1c20e489e59f357b597d7d96e435a8ef by 5081703.cr
fix: lane_points backward.

The file was modifieddata/vehicle/lane_detection.cpp
The file was modifieddata/vehicle/lane_detection.hpp
The file was modifiednode/source/module.cpp
The file was modifiednode/source/ros_source_lane_pts.cpp
Commit 165e28b41d4ad3328a860767e6b23a3001d0e99e by 5081703.cr
fix: lane_pts direction.

The file was modifieddata/vehicle/lane_detection.hpp
The file was modifiednode/source/ros_source_lane_pts.cpp
The file was modifieddata/vehicle/lane_detection.cpp
Commit 4d49e4655a561f73f84baf763e2b58a379d8f17d by 5081703.cr
fix: qp for lock_station_pts.

The file was modifieddata/vehicle/lock_station_pts.cpp
The file was modifiedalgorithm/ctrl/narrow_corridor/narrow_corridor.hpp
The file was modifiednode/process/prepare/prepare_lock_station.cpp
The file was modifiednode/source/ros_source_lock_station_pts.cpp
The file was modifieddata/vehicle/lock_station_pts.hpp
The file was modifiednode/sink/ros_sink_controller_status.cpp
The file was modifiedalgorithm/ctrl/narrow_corridor/narrow_corridor.cpp
Commit 92464c88f28abba59720f5589bc6194762c9bc7b by 5081703.cr
fix: update lane_detection by lock_station_pts

The file was modifieddata/vehicle/lane_detection.cpp
The file was modifieddata/vehicle/lane_detection.hpp
The file was modifiednode/process/prepare/prepare_lock_station.cpp
The file was modifieddata/vehicle/lock_station_pts.hpp
The file was modifieddata/vehicle/lock_station_pts.cpp
Commit 1d5babc3f246a72a9e1f3f4b77cd327518c3c6fe by 5081703.cr
fix: add smith observer

The file was modifiednode/process/prepare/prepare_lock_station.hpp
The file was modifiednode/process/prepare/prepare_lock_station.cpp
The file was modifiedalgorithm/ctrl/narrow_corridor/narrow_corridor.cpp
The file was addedalgorithm/ctrl/observer/state_observer.cpp
The file was modifieddata/vehicle/lane_detection.hpp
The file was addedalgorithm/ctrl/observer/state_observer.hpp
The file was modifieddata/vehicle/lock_station_pts.cpp
The file was modifieddata/vehicle/lane_detection.cpp
Commit 87fa63af96fcf9fa3aaa22f6e821b18b7cd3c84a by 5081703.cr
fix: add lock_staiton_pts_opt_weight

The file was modifiednode/process/prepare/prepare_lock_station.cpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was modifieddata/config/cfg_mpc_qp.hpp
Commit 0c999693cc90c97cd31c6b7a0f7c07f0802ce557 by 5081703.cr
fix: add using_lock_station_pts_for_lka

The file was modifieddata/config/cfg_mpc_qp.cpp
The file was modifiednode/process/prepare/prepare_lock_station.cpp
The file was modifieddata/config/cfg_mpc_qp.hpp
Commit a3b20ee9daf74204d3c58e2818280e2ae7bd5136 by 5081703.cr
fix: add log.

The file was modifiednode/process/prepare/prepare_lock_station.cpp
Commit 0d807bbd3141acd5766a9ca8e9af0ffaa806b510 by 5081703.cr
fix: lock_station_pts lka bug.

The file was modifieddata/vehicle/lane_detection.cpp
Commit b95b2509786afeb6c211074c9a93b502fe9c70b8 by 5081703.cr
fix: quit LS LKA max_dis < -12

The file was modifiednode/process/prepare/prepare_lock_station.cpp
Commit fd819c95d6073a1a1402dc7ff512516dd78417b1 by wuyanjun110
feat:通过添加前馈的加速度，优化平行驾驶

The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.hpp
The file was modifieddata/config/cfg_dynamic.cpp
The file was addedalgorithm/ctrl/lon_controller/mpc_lon_controller.hpp
The file was addedalgorithm/util/piecewise_traj_generator.hpp
The file was addedalgorithm/util/piecewise_acc_traj.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiednode/source/ros_source_parallel_cmd.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was addedalgorithm/util/piecewise_traj_generator.cpp
The file was addedalgorithm/util/piecewise_acc_traj.hpp
The file was addedalgorithm/ctrl/lon_controller/mpc_lon_controller.cpp
Commit cf931e5c752649daf7d256294b42b9b0477155e0 by 5081703.cr
fix: acc_augment_mpc for parallel mode.

The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.hpp
The file was addedalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was addedalgorithm/ctrl/parallel_controller/acc_augment_mpc.hpp
Commit 078b483eac746124ecd89fb6a16a5387b27f369d by wuyanjun110
feat:添加前馈加速度补偿的系数

The file was modifieddata/config/cfg_parallel.cpp
The file was modifieddata/config/cfg_parallel.hpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit c7a15219d13949138609df19eda51d92d69758ea by 5081703.cr
fix: lka deviation.

The file was modifieddata/plan/plan_data.cpp
The file was modifieddata/vehicle/lane_detection.hpp
The file was modifiednode/process/prepare/prepare_lane_constrain.hpp
The file was modifieddata/vehicle/lane_detection.cpp
The file was modifieddata/plan/plan_data.hpp
The file was modifiednode/process/prepare/prepare_lane_constrain.cpp
Commit ef85cdba2e507aa12ee468140ba0e2cbd0762059 by wuyanjun110
feat:添加爬坡的补偿

The file was modifieddata/config/cfg_parallel.hpp
The file was modifieddata/vehicle/vehicle_command.hpp
The file was modifiednode/source/ros_source_parallel_cmd.cpp
The file was modifieddata/config/cfg_parallel.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit 5a5389f1ecc75a7cfef092467bd532955e70a8ec by 5081703.cr
fix: tractor dynamic mpc.

The file was modifiedcommon/util/thr_helper.hpp
The file was modifieddata/ctrl/lateral_ctrl_debug_data.hpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was addedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cpp
The file was modifiednode/sink/ros_sink_controller_status.cpp
The file was addedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/ctrl/lateral_ctrl_debug_data.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
Commit 35098e1a1a957774de33fe7db2fce3b7798cd3fd by 5081703.cr
fix: clear steer for backward align.

The file was modifieddata/plan/plan_data.cpp
The file was modifieddata/plan/plan_data.hpp
The file was modifiednode/sink/ros_sink_command.cpp
Commit 0f5387c67fd07ebba812ac2484ef87d6a72dfe22 by 5081703.cr
fix: acc_mpc for longitude controller.

The file was addedalgorithm/ctrl/lon_controller/acc_augment_mpc.hpp
The file was removedalgorithm/ctrl/parallel_controller/acc_augment_mpc.hpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.hpp
The file was modifiednode/process/proc/proc_longitude_controller.hpp
The file was addedalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
The file was removedalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
Commit d1165c2a444e3ebb1be3291877ca424f44becab8 by 5081703.cr
fix: add json

The file was addedthirdparty/json/single_include/nlohmann/json.hpp
The file was addedthirdparty/json/single_include/nlohmann/json_fwd.hpp
Commit 4c7b7642b483abf26d1c94e8e74089b12394389b by 5081703.cr
fix: add record.sh

The file was addedscripts/record.sh
Commit 5eb34a69a24b01e574fe28ec0bbf469c33f306f5 by 5081703.cr
fix: is_simulator

The file was modifieddata/config/cfg_topic.hpp
The file was modifiednode/source/ros_subscribe.hpp
The file was modifieddata/config/cfg_topic.cpp
Commit b7bcbd8bc9ad00052d8252df92d37a91e4da41aa by 5081703.cr
fix: close acc_mpc log

The file was modifiedalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
Commit 43f98f1def93a869388156651e82c6b704d4a86f by 5081703.cr
fix: tractor_dynamic v1

The file was modifiedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
Commit 5889f4cf649fb105c195fd7768ede6fabe67cf65 by 5081703.cr
fix: default params.

The file was modifieddata/config/cfg_static.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiednode/source/ros_source_parallel_cmd.cpp
Commit 472cda0b3d63f53bfac9193553305d6a6dc28d51 by 5081703.cr
fix: disable trailer_state when disable reversing truck controller.

The file was modifiednode/process/prepare/prepare_state.cpp
Commit cae8ae690305cf722ec160a5c9b98afd8e56ea99 by 5081703.cr
fix: disable trailer_state when disable reversing truck controller.

The file was modifiednode/process/prepare/prepare_state.cpp
Commit b8fd3b3bd88f349b3e36229bd405cf6b07710430 by 5081703.cr
fix: init lka_deviation.

The file was modifiednode/process/prepare/prepare_lane_constrain.cpp
Commit c850a760c8d9781c358962c86681e47d67afb617 by 5081703.cr
fix: init lka_deviation within lane_keep_assist scenario.

The file was modifiednode/process/prepare/prepare_lane_constrain.cpp
Commit 1acbae5ec633760297a10390e52624207a0e933d by 5081703.cr
fix: sink lka_deviation.

The file was modifieddata/vehicle/lane_detection.hpp
The file was modifiednode/sink/ros_sink_controller_status.cpp
The file was modifieddata/vehicle/lane_detection.cpp
Commit 715cd37beda207e921f2b36c9f7afecd3754e26c by 5081703.cr
fix: add lka_deviation_rate

The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiednode/process/prepare/prepare_lane_constrain.cpp
The file was modifieddata/config/cfg_safe_const.cpp
Commit 48e1dcdae24c0c6cba2b6d3c5d0777e7790a71fc by 5081703.cr
fix: lka error stop condition.

The file was modifiedalgorithm/ctrl/lka/lka_path_generator.cpp
Commit 7fae6af676e310a358bf1b0143abb6ca498454d6 by 5081703.cr
fix: disable log

The file was modifiednode/process/prepare/prepare_lane_constrain.cpp
Commit 3be0ccf68b1b447e5f18a4635db18161e02286f2 by 5081703.cr
fix: add lka_deviation_rate

The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiednode/process/prepare/prepare_lane_constrain.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 363cdded2ff519bd904626a856a9e38636b529f3 by 5081703.cr
fix: lka error stop condition.

The file was modifiedalgorithm/ctrl/lka/lka_path_generator.cpp
Commit 48d0f8286fe90794ace2aeacf4048882e92a0f4e by 5081703.cr
fix: log lka_deviation.

The file was modifiednode/process/prepare/prepare_lane_constrain.cpp
Commit b312ba0edef4fd067b34524470a60ba3634e9354 by 5081703.cr
fix: mpc_qp optimization.

The file was modifiedalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_static.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cpp
Commit 72e9349f8bad3461f9a2a40fa2a6b845d255e2b6 by 5081703.cr
fix: debug msg.

The file was modifiedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cpp
Commit 0a45574942e3f47c787cf4e3a2b3fb5c3e1c0942 by 5081703.cr
fix: using_lock_station_pts_for_lka = true

The file was modifieddata/config/cfg_mpc_qp.cpp
Commit 57e888743498f3be609774588024616960d0ed9a by 5081703.cr
fix: lka_exception_detection_dheading = 3.0

The file was modifieddata/config/cfg_mpc_qp.cpp

Summary

  1. note_out: bug修复（转弯时箱体面可以不符合对称） (details)
  2. note_out: airy703车适配调整 (details)
Commit 3e3b21037e17ba05e3745a2fb4ba53d0baa997c2 by liuwenjing
note_out: bug修复（转弯时箱体面可以不符合对称）
The file was modifiedcore/spreader_detection.cpp
Commit d3394cf15e0d9e8cbe0a91b8b50bd024c1dc38e6 by liuwenjing
note_out: airy703车适配调整
The file was modifiedcore/spreader_detection.cpp
The file was modifiedcore/spreader_detection.h