Build #1256 (Nov 10, 2025 5:59:01 PM)

1. fix:修复快照内存泄漏的bug (details)
2. fix: trailer path bug in replayer. (details)
3. 从两边搜索 (details)
4. 根据现场测试数据提升成功率。 (details)
5. feat:1.添加远程步进忽略安全的功能2.翻斗角度大于一定阈值，停车的防护 (details)
6. fix: no drive object check dis expend (details)
7. Add OGM builder (details)
8. Og Lines添加source cluster size表示置信度，回退时只回退置信度低的点云 (details)
9. Publish og_line_segment topic. (details)
10. fix: 修复了2段搜索的一些问题，修改了参数 (details)
11. feat:暂时屏蔽container size 变量 (details)
12. chore: 训练数据集生成工具完善轨迹生成模块 (details)
13. chore: 重新定义og line segment message (details)
14. fix:修复分段路径计算的bug (details)
15. feat:cargo width (details)
16. feat:添加变道状态机状态 (details)
17. fix: trailer path bug in replayer. (details)
18. fix: trailer_ego_path bug. (details)
19. fix: destination direction bug. (details)
20. feat:添加参数,从disable状态强制会stop auto (details)
21. feat: 建立多步搜索框架，重构tractor-trailer的搜索代码，适配威海调头入库场景 (details)
22. fix: steering stationary. (details)
23. fix: 去除魔法数字 (details)
24. refactor:优化ego match (details)
25. fix:修复match的bug (details)
26. feat:适配实时车辆宽度 (details)
27. fix: 修复ssep参考线trailer角度跳变问题 (details)
28. fix: reverse truck path task使用原始kappa (details)
29. feat:临时关闭变道状态的上传 (details)
30. feat:引导线适配集卡倒车 (details)
31. fix:后向倒车问题修复 (details)
32. fix:后向倒车问题修复 (details)
33. fix: reversing truck path. (details)
34. fix: 崩溃 (details)
35. fix: using TractorPathFromTrailerPath (details)
36. fix: imv smooth mode bug. (details)
37. fix:修复bulk out识别的bug (details)
38. feat:添加进堆场口通道的显示 (details)
39. feat:调整边界封锁逆行车辆左边的通道 (details)
40. feat:适配 imv 出停车位方向和一次规划方向不一致的场景 (details)
41. feat:适配苏溪集卡倒车 (details)
42. feat:更新西联停车位的约束 (details)
43. fix: imv smooth mode bug. (details)
44. feat:修复出堆场口 提前进入动态搜索的bug (details)
45. feat:反向进T场，搜索失败 (details)
46. fix: steering check for truck. (details)
47. fix: imv start_pt.heading in smooth mode. (details)
48. fix:pjpo标志位赋值的bug (details)
49. feat:出堆场口 约束调整 (details)
50. feat: u-turn-insertion场景，倒车重规划 (details)
51. fix: crash issue. (details)
52. fix: imv crab mode for large curvature path. (details)
53. feat:open space 区域 赋值 no straight (details)
54. feat:opensapace 搜索晚的问题 (details)
55. feat:适配友谊关 (details)
56. Ssep add hdmap (details)
57. fix: 倒车时搜索区域构建bug修复 (details)
58. fix: uturn insertion 倒车二次规划使用更大的曲率 (details)
59. feat: 前港掉头调试 临时提交 (details)
60. feat:友谊关测试添加日志 (details)
61. feat:恢复代码 (details)
62. fix:出堆场口 和多段 求解失败的bug (details)
63. feat:吊距防护的bug (details)
64. fix:修复可能的崩溃bug (details)
65. fix: trailer_base2head_base in ssep. (details)
66. fix:调整限速的问题 (details)
67. fix:修复可能的崩溃bug (details)
68. feat:西连停车位，添加约束 (details)
69. Revert "fix:修复可能的崩溃bug" (details)
70. fix: imv heading bug. (details)
71. fix:修复快照崩溃的bug (details)
72. fix:修复合并的bug (details)
73. feat:弯道延后进入open space 参数化 (details)
74. feat:弯道延后进入open space 参数化 (details)
75. fix:长弯道内，速度跳变的问题 (details)
76. feat: 完成ssep新框架的场景输入。修复搜索bug (details)
77. fix: ssep ilqr path filter. (details)
78. fix: 修复 along lane condition 中目标角度与车道角度可能不一致的问题 (details)
79. fix:修复可能崩溃的bug (details)
80. feat:关闭debug (details)
81. fix: wbca boundary bug. (details)
82. fix: lane.length checking bug. (details)
83. feat:调整wcba 优化路径的长度 (details)
84. fix: echo stop position. (details)
85. feat: 掉头入库-1. 根据途经点位置自动计算角度。2. 方向切换时向前延长轨迹 (details)
86. fix: plan from cur_pt when ssep search succeed. (details)
87. feat: 增加conditional filter防止轨迹画圈 (details)
88. fix: 修复轨迹有可能转圈的问题 (details)
89. fix: crash issue. (details)
90. fix: lon_decision, using prediction for v > 8km/h (details)
91. fix: 修复掉头入库时，pass point不合理会导致崩溃的问题 (details)
92. fix:修复不运行path time graph，lattice崩溃的bug (details)
93. fix:修复guide line的模式的打印 (details)
94. feat:添加忽略身后安全的标志位 (details)
95. feat:添加忽略身后og点的功能 (details)
96. feat:指令变道后， 仍然可以进行靠近终点变道 (details)
97. chore: 改进进出堆场搜索与掉头搜索 (details)
98. fix:修复停车位方向切换的问题 (details)
99. feat:进充电桩搜索失败的bug (details)
100. fix:修复参考拼接的bug (details)
101. fix:苏溪进出堆场搜索失败的bug (details)
102. feat:删除打印日志 (details)
103. fix: 修复前港终点在反向车道时会crash的问题 (details)
104. feat:扩多个lane的region，只获取一段的bug (details)
105. fix: 修复hd-map中yard access line为空时会崩溃的问题 (details)
106. chore: 调整进出堆场与普通搜索方向切换权重 (details)
107. fix: wbca route length optimization. (details)
108. fix: ssep修复起点直接满足搜索终止条件时会crash的问题 (details)
109. fix:修复引导线拼接的bug (details)
110. fix:修复引导线拼接的bug (details)
111. chore: 1.基于车道的终点匹配范围增加到距离参考点20米。2. imv增加斜行cost (details)
112. feat:调整停车位开始变道的距离 (details)
113. feat:变道安全和变道临停， 因障碍物晃，导致冲突的问题， 添加buffer (details)
114. fix:关路禁停的bug (details)
115. fix:引桥 途径点 没有清除的bug (details)
116. feat: 跑通ssep新框架-西联imv进充电桩的流程 (details)
117. fix:修复bulk in 和 bulk out 点靠近时，场景识别的bug (details)
118. 仿真中跑通进出充电桩 (details)
119. fix:修复bulk倒车的问题 (details)
120. fix:修复速度大于40km/h时.减速曲线的bug (details)
121. fix:修复速度大于40km/h时.减速曲线的bug (details)
122. fix: 修复了轨迹平滑时，边界约束为0时，轨迹位置仍会改变的bug (details)
123. fix:修复在平滑状态下， 限速的bug (details)
124. fix:修复在平滑状态下， 限速的bug (details)
125. fix:修复ssep搜索时，聚类og点使用的bug (details)
126. fix:修复堆场入口显示的bug (details)
127. chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details)
128. chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details)
129. fix: 修复方向切换时延长失效的问题，增大对tunnel constraint的前向响应距离 (details)
130. fix:修复搜索失败的bug (details)
131. refctor:优化对准逻辑 (details)
132. fix:优化对准的逻辑 (details)
133. feat:添加变道状态机状态 (details)
134. feat:变道延迟时间参数化 (details)
135. fix:修复忽略身后障碍物的bug (details)
136. feat:远程步进， 使用忽略安全的标志位代表是否是自动卸料 (details)
137. fix: 修复堆场有多个出入口时适配错误的问题 (details)
138. feat:修复参数名称和远程步进超时的时间 (details)
139. fix:修复变道过程中，当前车道突变的bug (details)
140. feat:进出堆场约束的调整 (details)
141. fix:苏溪 修复 集卡进单车道堆高机场搜索失败的bug (details)
142. merge latest ssep (details)
143. fix: 解决imv出充电桩离障碍物过近的问题 (details)
144. fix: 前港ssep搜索，车道匹配的终点需要在设定的终点之后 (details)
145. fix: 解决imv出充电桩离障碍物过近的问题 (details)
146. feat:调整倒车的约束 (details)
147. fix:ssep场景错误的bug (details)
148. fix:travel out 误退出的bug (details)
149. feat: 新搜索框架添加gui 可视化功能 (details)
150. feat: 新搜索框架添加gui 可视化功能 (details)
151. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
152. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
153. fix:ssep路径没有终点的停止线的bug (details)
154. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
155. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
156. feat:添加comand widget的显示开关 (details)
157. feat:添加comand widget的显示开关 (details)
158. fix:修复对准标志位请求不复位的bug (details)
159. feat:状态显示框通过参数可以控制 (details)
160. fix:合并的bug (details)
161. feat:调整缩小安全距离的参数 (details)
162. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
163. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
164. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
165. fix: ssep修复途经点使用逻辑 (details)
166. fix:误退出 dravel out场景的bug (details)
167. fix:误进入倒车控制器的bug (details)
168. fix:误进入倒车控制器的bug (details)
169. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 (details)
170. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
171. feat:优化倒车的限速 (details)
172. chore: ssep-car-多段倒车入库提升成功率 (details)
173. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
174. fix: Remove file (details)
175. chore: ssep-car多段倒车 提升二次搜索成功率 (details)
176. fix:出斜料区，地图方向识别的bug (details)
177. fix: 修复ssep路径终点离设定终点过远的问题 (details)
178. feat: ssep-离线障碍物配置框架 (details)
179. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
180. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
181. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
182. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 (details)
183. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
184. chore: ssep-car-多段倒车入库提升成功率 (details)
185. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
186. fix: Remove file (details)
187. chore: ssep-car多段倒车 提升二次搜索成功率 (details)
188. fix: 修复ssep路径终点离设定终点过远的问题 (details)
189. feat: 增加候选起点策略 (details)
190. feat: 增加候选起点策略 (details)
191. feat:倒车入库后，前向步进的问题 (details)
192. feat:完善变道触发的条件 (details)
193. fix:  stationary steering logic. (details)
194. fix:变道场景切换的bug (details)
195. fix:路径方向切换时，终点距离计算的bug (details)
196. fix:修复路径拼接的bug (details)
197. feat:优化ssep的参数载入 (details)
198. chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置 (details)
199. feat:修改开始对准的阈值 (details)
200. fix:修复bulk 状态下， 不自动对准的bug (details)
201. fix:修复更新目标车道使用历史数据的bug (details)
202. feat:适配路边作业场景 (details)
203. feat: SSEP: 1. IMV增加pullover场景处理终点偏移。2. 添加keb optimizer (details)
204. fix: 修复掉头场景的终止条件判断不能正确匹配车道的问题 (details)
205. fix:修复方向切换的bug (details)
206. feat: SSEP: 进堆场场景使用双向搜索+keb_optimizer (details)
207. fix: reversing debug. (details)
208. feat:合并的bug (details)
209. fix:修复og lines 使用的bug (details)
210. fix:方向切换的bug (details)
211. feat:添加强制前向搜索的标志位 (details)
212. fix:修复地图包略当前段计算的bug (details)
213. refactor:优化adjust 切换lock的条件 (details)
214. fix:修复lock 不切换adjust的bug (details)
215. chore: ssep: 将Map envelop 转为 constraint，容许轻微违反约束-不超过0.5m (details)
216. feat: 1. 前港 lock 和 adjust 来回切换的bug  2. 太阳 接受新任务， 状态机切换的bug (details)
217. feat:储存的消息中添加车辆当前位置 (details)
218. feat:park lock 下不重新搜索 (details)
219. fix:适配lane 首位相连的场景 (details)
220. fix:修复方向切换的问题 (details)
221. feat:终点是否考虑边界添加参数 (details)
222. fix: max_acc = 0.5 for wbca velocity reference. (details)
223. chore: ssep: 1.增加进堆场时终点选择逻辑 - 优先选择宽阔的区域作为终点，提前把挂车甩直。2. keb_optimizer加上最后一段直线的约束 (details)
224. feat: ssep: 新增低贝位搜索模式 -- 在进入窄通道前把挂甩直。适配杨浦场景。 (details)
225. chore: ssep: 新建开沃掉头场景调整参数 (details)
226. feat:park adjust 切换park lock的bug (details)
227. fix:优化 安全区域的限速 (details)
228. feat: SSEP: 倒车出停车位多段路径 (details)
229. feat: SSEP: mult-seg path to exit parking space (details)
230. feat: Tractor-trailer出停车位 (details)
231. chore: remove 1 line (details)
232. feat: ssep: 跑通苏溪多段路径出停车位 (details)
233. chore: ssep: minor param updates (details)
234. fix: hmi load map. (details)
235. fix: ssep: 拆分car车型掉头和常规搜索的搜索参数 (details)
236. chore: ssep: 在堆场内搜索终止条件不进行车道匹配 (details)
237. feat:打开release (details)
238. feat:添加多次步进的功能 (details)
239. feat_out: path_opt in replayer. (details)
240. fix: velocity profile exception. (details)
241. fix: delete history in smooth mode. (details)
242. chore: ssep: 跑通tensor rt推理ssep heat net模型全流程 (details)
243. fix:修复终点前变道的bug (details)
244. feat:添加参数 直行的junction 是否用路口的边界 (details)
245. refactor:删除打印日志 (details)
246. fix:road 级别的可行驶范围的bug (details)
247. feat:适配董分进堆场边界 (details)
248. fix:修复封路变道的bug (details)
249. fix:引桥前变道的bug (details)
250. fix:可能崩溃的bug (details)
251. fix: routing extending backward for bend. (details)
252. fix:变道的bug (details)
253. chore: SSEP: Update ssep sdk. (details)
254. 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)
255. fix:适配open space 场景 (details)
256. fix: using maximum vehicle size in WBCA (details)
257. Feat: SSEP: 增加自卸车倒车卸货场景 (details)
258. feat: 接入自卸车倒车卸货场景 (details)
259. fix: abandon  last segment in wbca. (details)
260. fix: 修复ssep搜索区域尺寸错误 (details)
261. fix:可能崩溃的bug (details)
262. fix: wbca debug msg. (details)
263. fix: end_velocity for wbca calc exception. (details)
264. fix: velocity profile exception. (details)
265. fix:人工对准误创建约束 (details)
266. feat:open space的优化 (details)
267. refactor:直线步进 优化步进时间 (details)
268. refactor:直线步进 优化步进时间 (details)
269. feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。 (details)
270. feat: ssep_data中保存重规划原因 (details)
271. fix: add wbca debug var. (details)
272. fix: add lateral acc cost. (details)
273. fix: add wbca cost and time_consuming. (details)
274. fix: SSEP: 修复car+optimizer中代码的bug (details)
275. fix:修复代码合并的bug (details)
276. fix: pub lane_pts debug msg. (details)
277. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
278. feat:暂时可以调试 (details)
279. feat: SSEP: 增加集卡多段倒车场景 (details)
280. fix: wbca bd expanding. (details)
281. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
282. feat: SSEP: 增加集卡多段倒车场景 (details)
283. fix: SSEP: Resolve crashing issue. (details)
284. fix: SSEP: Resolve crashing issue. (details)
285. feat: add distance2bend (details)
286. fix: WBCA lane change path (details)
287. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
288. feat:适配状态机场景 (details)
289. feat: WBCA serialization for debug. (details)
290. fix: using history_pts for lattice velocity reference. (details)
291. fix: use_func_use_wbca_speed_limit = true (details)
292. feat: SSEP: 增加引导线跟随模式搜索 (details)
293. feat: ssep适配脱困模式 (details)
294. feat:boost 编译错误 (details)
295. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
296. fix: lateral acceleration parameters. (details)
297. fix: ComputeLonGuideVelFromLatAcc (details)
298. feat: clear align times when align2nd to align1st. (details)
299. feat:脱离模式 路径切换的适配 (details)
300. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
301. fix: lon_decision for car. (details)
302. feat:cut ego 添加参数 (details)
303. feat:适配新的障碍物类型 (details)
304. feat:脱困模式，适配重搜索逻辑以及地图版本校验 (details)
305. fix: add min_turn_radius (details)
306. fix: add lattice_velocity_reference_mode (details)
307. fix: disable wbca debug mode. (details)
308. fix: max_lat_acc in wbca params (details)
309. fix: ignore dynamic obstacle in risk evaluation. (details)
310. fix:调整危险限速距离的bug (details)
311. feat:调整状态机 (details)
312. feat:远程步步进，停车时间参数化 (details)
313. fix_out: lat_acc_baed ref vel cal error. add debug msg. (details)
314. fix:修复因为距离阈值，带来场景识别错误的bug (details)
315. fix: bug (details)
316. fix: disable wbca_debug mode. (details)
317. fix:修复终点距离计算的bug (details)
318. chore(format):格式 (details)
319. chore: 适配remote guide line变更 (details)
320. fix:修复海润进弯道后第一个停车位停不正的bug (details)
321. fix: delete log. (details)
322. fix:修复误触发open space的bug (details)
323. fix: delete log (details)
324. feat:执行remote后进入stop auto (details)
325. feat:添加obj障碍物的跟车距离 (details)
326. refactor:优化bulk场景的限速 (details)
327. fix:修复park lock 切换 park out， 不重搜索的bug (details)
328. 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)
329. refactor:优化跟车距离 (details)
330. fix:临时修复重搜索的bug (details)
331. feat: lon_decision from SQ (details)
332. fix: add min_safe_ttc (details)
333. fix: v_min_coef = 9.9 wbca (details)
334. fix: disable dynamic and steering speed constraints (details)
335. fix: disable dynamic and steering speed constraints (details)
336. fix: add min_velocity_coefficient_for_velocity_cost. (details)

Started by upstream project orin-module-slave32 build number 2581
originally caused by:

• Started by user wuyanjun

• master

• refs/remotes/origin/master

• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]
• httpRequest: [gitlabToken]

• origin/rc_dev_yangpu

• origin/feat_yp_LD

• origin/rc_dev_add_lane_name