Build #1007 (Sep 9, 2026 5:41:14 PM)

1. Update vehicleInfo.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)
8. Update repoinfo.groovy (details)
9. Update orin32Choice.groovy (details)
10. Update orin64Choice.groovy (details)
11. Update orinModule32Choice.groovy (details)
12. Update orinModule64Choice.groovy (details)
13. Update repoinfoRos2.groovy (details)
14. Update orinRos2Choice.groovy (details)
15. Update orinRos2ModuleChoice.groovy (details)

1. Update hangzhou-xiasha-submodule.jenkinsfile (details)
2. Update wuhan-zhongtielianji-submodule.jenkinsfile (details)
3. Update map-png.jenkinsfile (details)
4. Update mizar.jenkinsfile (details)
5. Update polaris.jenkinsfile (details)
6. Update tc397_ota.jenkinsfile (details)
7. Update python-scripts.jenkinsfile (details)
8. Update system-libraries.jenkinsfile (details)

1. fix:优化动态下码头面搜索终点选取的问题 (details)
2. 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)
3. fix: del mode=0 (details)
4. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
5. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
6. feat: add smooth_mode_wbca_params (details)
7. fix: smooth_mode_wbca_params bug (details)
8. fix: lock historical cloud point in replayer. (details)
9. fix: add FORWARD_BEFORE_BACKWARD (details)
10. fix: ssep replan for  reversing truck. (details)
11. fix: refine deviation_stop params. (details)
12. fix: path disapearing issue. (details)
13. fix: trailer_path_ego match issue. (details)
14. refact: straighten then reverse. (details)
15. fix: using map lane width for single line lane detection (details)
16. feat: stop for localization switching. (details)
17. fix: log msf localization switching status. (details)
18. fix: road segment splitting bug. (details)
19. refact: GetRoadSegmentFirstSplitPos (details)
20. fix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 (details)
21. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
22. feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details)
23. fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details)
24. 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)
25. feat: add position check for reversing (details)
26. fix: disable revsersing deviation. (details)
27. feat: limit straithen times. (details)
28. feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 (details)
29. fix: reversing times bug (details)
30. fix: checkout feat_keb_task (details)
31. fix: reversing ssep planner bug (details)
32. fix: reversitong activation position thr 10.0 (details)
33. feat: add lbfgs prevous version. (details)
34. fix: curvature over limit filer. (details)
35. feat:合并ssep (details)
36. fix: checkout ssep from feat_keb_task (details)
37. feat: checkout relate_offset from feat_straddle_v2 (details)
38. feat: add DeviationStatus (details)
39. feat: add update_end_position for ssep replan. (details)
40. feat: deviation for align (details)
41. fix: ssep replan for bulk align. (details)
42. fix: reverse bulk offset heading (details)
43. feat: limit reversing align times (details)
44. fix: log align info; serialize bulk_align_offset (details)
45. fix: log stop_deviation_for_algn (details)
46. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
47. fix: pnc_map splitting error. (details)
48. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
49. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
50. fix: SSEP: 修复多段倒车路径异常问题 (details)
51. feat: set up max_forward_distance (details)
52. fix: SSEP: 修复自卸车进卸料区路径有点斜的问题 (details)
53. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
54. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
55. fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 (details)
56. fix: straight lane near crane and lock_station (details)
57. feat: ssep replan for localization exception. (details)
58. feat: waiting for lift traile; using heading error for reversing align (details)
59. fix: checkout feat_keb_v2 ssep (details)
60. fix: add max_forward_distance_for_straighten_trailer (details)
61. fix: deviation_status bug (details)
62. fix: ignore path optimizor in park_in state. (details)
63. chore: SSEP: 集卡多段倒车接挂适配超窄库位 (details)
64. refactor:优化界面耗时 (details)
65. fix: using straighten replan logic for path_direction_change replan type (details)
66. fix: SSEP: 解决威海多段倒车距离og墙太近的问题 (details)
67. fix: checkout feat_keb_v2 (details)
68. feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 (details)
69. fix: 修复威海车型不匹配的问题 (details)
70. chore: SSEP: 减小集卡多段倒车的最大曲率 (details)
71. fix:修复快照播放崩溃的bug (details)
72. fix: check out feat_keb_v2 ssep (details)
73. fix: add ssep_forward_ec_tail_straight_distance (details)
74. fix: ssep replan bug (details)
75. fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 (details)
76. chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 (details)
77. feat: SSEP: 调整集卡多段倒车拉直逻辑 (details)
78. fix: build error (details)
79. feat: 添加<cstddef>头文件以支持大小类型 (details)
80. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
81. refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks (details)
82. 桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 (details)
83. fix: multi-frames trigger (details)
84. fix: truck reversing path kappa calculation (details)
85. fix: extending distance from current ego position. (details)
86. feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 (details)
87. fix: revering in straight line (details)
88. fix: is_in_straight_lane = false during park state (details)
89. fix: disable replan during path direction changing for straightening (details)
90. feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 (details)
91. chore: SSEP:  解决集卡倒车距离障碍物较近时会倒着进的问题 (details)
92. chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 (details)
93. fix: synchronize straighten hold with SSEP search (details)
94. fix: stabilize STEP_ALIGN trajectory (details)
95. chore: 注释掉WHBULK的终点约束 (details)
96. feat: 稳定障碍停车约束释放 (details)
97. test: 补充障碍停车约束自动化场景 (details)
98. feat: 展示障碍停车约束诊断 (details)
99. fix: 修复 SSEP 离线回放构建 (details)
100. feat: SSEP: Add coarse search tutorial. (details)
101. fix: 修正拖挂车指令重规划拉直判定 (details)
102. fix: 取消威海散货引桥终点约束 (details)
103. chore: SSEP: 更新集卡启发项表生成器 (details)
104. feat: 超视距线支持按高度分层 (details)
105. fix: 补充 SC 目标点类型显示 (details)
106. fix: 设置初始位姿时保留定位高度 (details)
107. fix: 修正拖挂停车途经点判定 (details)
108. doc: SSEP: Add keb tutorial (details)
109. fix: 修正拖挂车指令重规划拉直判定 (details)
110. fix: 取消威海散货引桥终点约束 (details)
111. feat: 超视距线支持按高度分层 (details)
112. fix: 修复 BulkOut 重规划状态误退出 (details)
113. fix: 修正横向规划器类型识别 (details)
114. fix: 统一 BulkOut 的 SSEP 前向阶段 (details)
115. feat: 增加 KEB 规划可视化与诊断 (details)
116. feat: keb正确返回theta值 (details)
117. fix: 修复绕行边界与会车响应 (details)
118. fix: 补充快照加载失败诊断 (details)
119. docs: 补充算法场景回放建设方案 (details)
120. fix: 恢复散货前向阶段 WBCA 规划 (details)
121. fix: 修复绕行超车目标升级 (details)
122. feat: 接入条件禁行区域碰撞检测 (details)
123. feat: keb正确返回theta值 (details)
124. fix: 调整 KEB 道钉点碰撞处理 (details)
125. fix: 恢复静态聚类凸包绕行占用 (details)
126. fix: 收紧叉头叉尾纵向扩展 (details)
127. fix: 修复 PNC 地图道路段转换异常 (details)
128. fix: 保持变道路径跨阶段连续 (details)
129. fix: 提高变道 PJPO 求解稳定性 (details)
130. fix: 缩小变道障碍物纵向扩展范围 (details)
131. feat: IMV KEB 起步曲率问题修复与日志跨天切换 (details)
132. feat: 增加普通路口停车功能开关 (details)
133. feat: 支持大半径弯道主动超车 (details)
134. feat: 完善SSEP图景重规划回放 (details)
135. feat: 增强SSEP图景可视化 (details)
136. feat: 增强振石IMV多段搜索能力 (details)
137. fix: 修复SSEP碰撞忽略区边界误判 (details)
138. feat: 支持出堆场分段选择横向规划器 (details)
139. test: 建立SSEP本地自动化回归集 (details)
140. fix: 修复 NO-SHIFT 末端走廊边界污染 (details)
141. feat: 支持闸口精确限速与动态跟车 (details)
142. fix: 过滤闸口杆体绕行点云 (details)
143. feat: 绘制引导线区域缩写 (details)
144. feat: 增加魏桥区域规划支持 (details)
145. fix: 修复换向停车后 SSEP 切段失败 (details)
146. fix: 修复倒车 OpenSpace 边界配置失效 (details)
147. feat: 增加中铁联集区域规划支持 (details)
148. fix: 修复 KEB 调试界面误绘挂车 (details)
149. feat: 完善 SSEP 失败场景诊断 (details)
150. fix: 修复 IMV 斜行 KEB 运动学失配 (details)
151. fix: 限制连续开放空间重规划触发范围 (details)
152. fix: 提前闸口控制介入距离 (details)
153. feat: 支持配置堆高机靠近时的锁定时机 (details)
154. fix: 增强参考道路段空数据防护 (details)
155. feat: 支持 SSEP 历史路径热启动重规划 (details)
156. fix: 统一重规划上下文与路径连续性 (details)
157. feat: 完善重规划诊断与回放标记 (details)
158. fix: 防止空导引线限速触发规划崩溃 (details)
159. fix: 缓冲区近终点跳过地图连续性检查 (details)
160. feat: 增加聚类障碍物变道安全防护 (details)
161. fix: 优化普通路口变道衔接 (details)
162. fix: 搜索临停轨迹就绪后恢复行驶 (details)
163. fix: 隔离不同车型的变道锚点维护 (details)
164. fix: 统一路口搜索终点参考线 (details)
165. feat: add trailer parking safety handling (details)
166. feat: 支持 KEB roadside 分层规划 (details)
167. feat: 完善 KEB roadside 分类可视化 (details)
168. test: 增加 KEB 本地自动回归集 (details)
169. docs: 完善 KEB 工具与回归说明 (details)
170. feat: add neighboring trailer parking safety (details)
171. fix: measure trailer clearance from tail edge (details)
172. chore: remove trailer parking debug logs (details)
173. fix: clear real obstacles near SSEP endpoints (details)
174. fix: select guide_line pt as wbca smooth mode start_pt (details)
175. fix: 提升拖挂车进场 KEB 路径质量 (details)
176. fix: 完善低贝位重搜触发与热启动策略 (details)
177. fix: 保持开放空间 routing 判段连续 (details)
178. fix: 兼容新版 Python Protobuf 运行库 (details)
179. fix: 补全 Foxglove 可视化参考系 (details)
180. fix: 修复换向重规划分段索引崩溃 (details)
181. feat: 删除遗留的ads submodule (details)
182. fix: 避免闸口短距被聚类障碍覆盖 (details)
183. fix: 防止重规划期间历史参考线逐帧缩短 (details)
184. fix: 修正开放空间终点距离与退出边界 (details)
185. fix: 允许行驶中在弯道内触发入场搜索 (details)
186. fix: 放宽 BulkOut 两点判定的横向容差 (details)
187. fix: 统一双向 IMV 搜索包络的换向航向补偿 (details)
188. fix: 通过通用参数保持 BulkOut 搜索的车头身份 (details)
189. fix: 清理无搜索阶段的错误重规划上下文 (details)
190. fix: 还原反向作业的 IMV 搜索物理车头朝向 (details)
191. test: 增加 BulkOut 物理车头与路径质量回归 (details)
192. fix: 为振石 BulkOut 搜索保留完整后方点云 (details)
193. feat: 统一振石 IMV 场景的搜索参数配置 (details)
194. test: 严格区分 SSEP 原样回归与参数实验 (details)
195. fix: preserve full WBCA history across planning modes (details)
196. fix: 重搜期间复用成功路径并实时更新参考线 (details)
197. fix: 自适应调整 KEB 固定尾段优化范围 (details)
198. test: 归档出堆场内圈出口碰撞待修复案例 (details)
199. fix: 统一分段路径衔接判定并修复双向 IMV 漏换向 (details)
200. fix: 修复重合端点的 openspace 建区退化 (details)
201. feat: 新增津西区域识别并接入搜索配置 (details)
202. refactor: 移除振石出场硬编码参数及旧开关兼容 (details)
203. fix: 统一搜索场景参数生命周期并保护配置优先级 (details)
204. refactor: 统一 KEB 路径优化的请求与结果处理 (details)
205. feat: 支持直行堆场路口 KEB 并保持切换路径连续 (details)

1. feat: add trailer bias simulator. (details)

1. refactor:emergency stop的时候， 控制切换到 N档 (details)
2. fix: disable trailer_state when disable reversing truck controller. (details)
3. feat:平行驾驶的起始点的速度从历史轨迹上获取 (details)
4. fix:调整期望速度的滤波 (details)
5. refactor:平行驾驶的时候使用大的油门刹车表 (details)
6. fix: chassis.steering_angle. (details)
7. fix: steering stationary. (details)
8. fix: steering_mode = auto for move_prepare. (details)
9. fix: steer_speed = 1.0 for stationary. (details)
10. feat:打开爬坡标志位 (details)
11. feat:调整远程步进最小规划速度 (details)
12. fix: del acc_mpc_.reset (details)
13. feat:调整倒车的油门刹车表 (details)
14. feat:调整倒车的前馈补偿。 (details)
15. feat:调整安全模块的接口，需和安全模块一块更新 (details)
16. fix:编译的buy (details)
17. fix: mpc status bug. (details)
18. feat:对准时，刹车的问题 (details)
19. feat:使用阈值门限 (details)
20. feat:调整对准阈值的处理 (details)
21. fix: using plan_data to activate stationary steering. (details)
22. fix: stationary steering bug. (details)
23. feat:新增零偏角度辨识及补偿功能 (details)
24. fix:更改零偏角度yaml文件的读取方式 (details)
25. fix: crash issue (details)
26. fix: crash issue (details)
27. fix: 屏蔽变道时的零偏补偿 (details)
28. feat:适配多次步进 (details)
29. fix:参考速度为0时质量估计失败的问题 (details)
30. fix:ResetHFSMState()中不将task_id_置为0 (details)
31. fix:刹车和起步问题修复 (details)
32. fix:最小刹车问题修复 (details)
33. fix: clamp steering angle. (details)
34. fix:取消任务时切到N档 (details)
35. fix:对准停不住车问题修复 (details)
36. fix: imv车型也控制进入creep的距离 (details)
37. feat: 新质量估计仅观测 && 停车距离预估用于刹车 (details)
38. feat: update cfg_static from pnc_status. (details)
39. fix: 停车距离预估功能优化 (details)
40. fix：质量估计优化 (details)
41. fix:平行驾驶优化 (details)
42. feat: the creep brake consider weight (details)
43. fix: 对准优化 (details)
44. fix: 停车预估配置参数bug (details)
45. feat: parking distance estimator add first stage gain (details)
46. fix: truck creep 中积分项修复 (details)
47. fix: 默认关闭新功能 (details)
48. feat: creep增加动力学前馈但默认关闭 && creep日志记录优化 (details)
49. feat: creep中的position模式变更策略 (details)
50. feat: 对准末端速度参数化 (details)
51. fix: 使用底盘速度的消息源更改 (details)
52. fix: cmake using clang. (details)
53. feat: 增加TCS功能 (details)
54. feat：高精轮速对准和大转向时跟踪优化 (details)
55. feat: 解决低速跟踪差的问题 (details)
56. optimize PID integral and TCS (details)
57. feat: 对准日志存储位置更改 (details)
58. feat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 (details)
59. feat: 更改日志记录 (details)
60. feat: 增加全流程的纵向动力学log记录 (details)
61. feat: 积分策略改变，倾向于保持减速 (details)
62. fix: 积分项回收逻辑调整回上一版，更改参数 (details)
63. fix: 修改防滑log记录 (details)
64. feat: 高精轮速使用的防护 (details)
65. feat: 增加急加速急减损步进功能 (details)
66. fix：解决HopperDump停不到位的问题 (details)
67. feat: 急加急减程度开放接口 (details)
68. feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构 (details)
69. feat: 增加机械效率参数 (details)
70. fix: vehicle type in command (details)
71. fix: trailer angle observer crash issue (details)
72. fix: version (details)
73. fix: using map lane with for single line lane detection (details)
74. fix: 增加日志记录 (details)
75. feat: 速度使用参数化 (details)
76. chore: ignore worktrees directory (details)
77. feat: 增加制动上升斜率 (details)
78. feat : cmakelist bug (details)
79. feat: 增加lmpc算法 (details)
80. fix: bug (details)
81. feat: 增加日志 (details)
82. feat: 优化mpc速度误差补偿 (details)
83. feat: 增加对准退出日志 (details)
84. feat: 急停时增加斜率 (details)
85. feat: 更改对准默认参数 (details)
86. feat: 油门踏板开度发送和质量估计转化适配三一车 (details)
87. feat: 增加日志 && lmpc bug (details)
88. feat: amt gear 和 mpc回退机制优化 (details)
89. feat: 增加autoholde日志 (details)
90. feat: pid 刹车测略同步原版本 (details)
91. fix: 默认参数更改 (details)
92. feat: 增加质量估计log (details)
93. feat: 参数梳理 (details)
94. feat: 油门后处理优化 && 纵向模型辨识脚本 (details)
95. fix: imv creep 中else分支未return的bug (details)
96. feat: 更改油门滤波器 (details)
97. fix: path_direction_lock时对准状态下停车 (details)
98. refactor: truck对准控制器重构 (details)
99. feat: 增加对准时刹超认为完成的功能开关 (details)
100. feat: 优化imv纵向控制架构 (details)
101. feat: SC车型适配 (details)
102. feat: sc和imv重构review完成 (details)
103. feat: 同步非线形mpc (details)
104. refactor: 对准相关内容重构 (details)
105. feat: 纵向动力学日志记录改为二进制方法 (details)
106. feat: 控制器状态清空 (details)
107. feat: 考虑弯道阻力系数 (details)
108. feat: 弯道阻力处理优化 反向作业对准适配 (details)
109. feat: truck的平行驾驶使用mpc纵向控制 (details)
110. feat: log (details)
111. fix: 日志log改回csv (details)
112. fix: wrls质量初始化 (details)
113. feat: log记录跨天问题 辅助起步问题 非线性通用性问题 (details)
114. fix: log日志使用修改 (details)
115. feat: SC自转适配 && SC对准控制器优化 (details)
116. feat: 重载对准停车设定单独参数 (details)
117. feat: 太阳卸货提车速度规划重构 对准超调认为完成增加距离阈值 增加参数强制将俯仰角设成0 (details)
118. feat: 起步辅助 (details)
119. feat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步 (details)
120. fix: 重载刹车非线性接口应为踏板开度 (details)
121. fix: 坡度限幅放在滤波器的输入端 (details)
122. feat：重载单独设定刹车gain (details)
123. feat: 重载时增大纵向mpo减速度变化量 (details)
124. feat: 对准刹超时增大刹车 (details)
125. fix：速度误差计算方式修改 (details)
126. fix: kappa direciton for SC (details)
127. feat: SC车型对准和步进优化 (details)
128. feat: 增加原始pitch角度观测 (details)
129. feat: SC车型适配倒车 (details)
130. feat: sc 和 imv的move step修正 (details)
131. feat: 增加速度IMV观测 (details)
132. feat: 对齐速度IMV纵向控制 (details)
133. feat: 低速停车距离优化 (details)
134. feat: 控制日志记录重构 纵向mpc增加热启动关闭polish (details)
135. feat: 放宽阈值 (details)
136. fix: 日志记录地址更改 persistent_solver更改 (details)
137. feat: 对准日志记录分割 (details)
138. feat: 更改日志 (details)
139. feat: 小速度停车距离预估调整 (details)
140. fix: 停车距离预估除0风险 (details)
141. feat: 调整安全逻辑 (details)
142. feat: 求解超时软约束 (details)
143. feat: 增加底层默认空载或重载的制动链路 (details)
144. feat：参数读取兼容旧版本 (details)
145. feat: 平行/摇控错误详细日志 (details)
146. fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复 (details)
147. feat: 纵向mpc适配仿真 (details)
148. feat: 任何停车后都reset纵向控制器 (details)
149. feat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99 (details)
150. fix: 静止状态处理 (details)
151. fix: 重置mpc控制器处理优化 (details)
152. fix： 不在emergency stop过程中重置 (details)
153. feat：平行驾驶无油门制动参数化 (details)
154. feat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 (details)
155. feat: 平行驾驶补偿 (details)
156. feat: imv零偏补偿尝试 (details)
157. feat: 底层反馈转向角适配零偏 (details)
158. feat: IMV零偏双模态学习 (details)
159. Revert "feat: imv零偏补偿尝试" (details)
160. feat: 溜车防护 取消任务时制动防护 (details)
161. fix： 只在给油门的时候检测溜车 (details)
162. feat: 起步辅助时的质量不低于初始质量 (details)
163. feat: 增加横向控制日志 (details)
164. feat: 增加IMV运动学校验观测 (details)
165. feat: 挡位保护 (details)
166. feat: 实际运动轴距辨识扩展到truck (details)
167. feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 (details)
168. feat: 过滤小制动 (details)
169. fix: 初始参数配置为0 (details)
170. feat: 停车距离预估的motion less靠控制自己判断 (details)
171. feat: 起步防滑与坡道起步优化 (details)
172. fix:根据质量进行制动补偿功能比例定义错误修正 (details)
173. feat: 增加park adjust下对准停车功能 (details)
174. fix : sc 远程步进修复 (details)
175. feat: 控制日志打印版本信息 (details)
176. feat: park adjust停车允许5cm越冲 (details)
177. feat: 支持双向步进振箱 (details)
178. feat: 防滑错误码上传 (details)
179. fix: 防滑报警默认关闭 (details)
180. feat: 转弯积分补偿 (details)
181. fix: 起步防滑不报错问题修复 (details)
182. feat: 急停的正确清空 (details)
183. feat: 只保留ee的机械急停 (details)
184. feat: 振箱策略更改 (details)
185. fix: add trailer_angle_compensation (details)
186. feat: 步进模式下传给mpc的参考速度序列修正 (details)
187. fix: trailer angle compensation (details)
188. feat: steering latency compensation for reversing truck controller (details)
189. fix: steering delay identification (details)
190. fix: record debug data (details)
191. fix: steering latency compensation optimizaiton (details)
192. feat： 起步积分与弯道积分合并  增加横向日志观测值便于AI分析横向动力特性 (details)
193. feat: 将减速度标定质量独立 (details)
194. fix: trailer angle bug (details)
195. feat: SC车型新增横向平移和自转功能 (details)
196. fix: 起步阶段不再强制变更使用质量 (details)
197. fix: add trailer_angle_replay_ekf (details)
198. feat: 底盘为空时认为静止 (details)
199. fix: SC模式切换保护 (details)
200. feat: SC横移模式指令值更改 (details)
201. fix: add speed governor (details)
202. fix: update config (details)
203. fix: auto recording script (details)
204. fix: ignore bag files (details)
205. fix: wire steer into mpc_solver (details)
206. feat: 起步防滑优化  对准起步辅助优化  横向零偏故障码常态化开启 (details)
207. fix: add trailer angle comp calibrator (details)
208. fix: update debug message (details)
209. fix: update config (details)
210. fix: calib bug (details)
211. fix: update params (details)
212. fix: add startup_blank_s (details)
213. fix: trailer_angle_comp opt (details)
214. feat: 转向补偿超限报警 单边停车质量补偿 (details)
215. feat：提前停车功能考虑多段路径 扩充到openspace场景   扩充到SC车型 (details)
216. feat: SC车型运动方向固定 增加每个轮子角度的观测 (details)
217. fix: 提前停车功能反向前进处理 (details)
218. fix: emergency_brake的正确记录 (details)
219. feat: 优化转向灯逻辑 (details)
220. feat: SC车步进方向调整   纵向MPC制动保护增加积分项   横向运动日志记录增强 (details)
221. feat: SC步进横移bug (details)
222. feat: estop函数积分保护失效的bug (details)
223. feat: 急停使用的FollowCtrlDcc函数积分优化 (details)
224. feat: truck 横向变步长mpc (details)
225. feat: IMV零偏补偿航向学习错误 (details)
226. feat: IMV零偏补偿航向学习错误 (details)
227. fix: reject inconsistent rotation direction (details)
228. fix(control): guard MPC during rotation command dropout (details)
229. fix(control): guard MPC during rotation command dropout (details)
230. feat: 转向积分补偿释放参数配置化 (details)
231. feat: 变时域横向控制器优化调整 (details)
232. feat：纵向控制器记录消耗时间 (details)
233. feat:IMV 横向控制增加考虑延迟的控制器 (details)
234. feat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分 (details)
235. feat: 加速度计算不考虑定位标志位 (details)
236. feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车 (details)
237. feat: SafePreprocess 优化 (details)
238. feat: 对准和刹车时的减速度积分防护 (details)
239. fix: 转向补偿默认关闭 (details)
240. feat: add forward trailer bias estimator v2 (details)
241. refactor(control): simplify trailer bias validation (details)
242. feat: 堆高机和步进提前停车 (details)
243. feat(control): filter pre-stop trailer bias samples (details)

1. fix_out: 修复起点计算cost的时候算取的是全部车道线 (details)
2. feat_out: 增加特殊区域 (details)

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