Build #868 (Jun 26, 2025 11:31:44 AM)

1. fix: add minco (details)
2. fix: add wbca test. (details)
3. fix:truck reverse in reverse truck planner (details)
4. fix: add update. (details)
5. fix: add LBFGSpp (details)
6. fix: (details)
7. fix: kappa penalty finished. (details)
8. fix: add grid_map (details)
9. fix: data render (details)
10. fix: pnc_map_path bug. (details)
11. fix: add esdf_map (details)
12. fix: add map size params. (details)
13. fix: path optimization using esdf. (details)
14. fix: add interp in esdf. (details)
15. fix: add draw_wbca_rlt (details)
16. fix: draw_esdf_gradient bug. (details)
17. fix: add nlopt (details)
18. fix: add debug obstacle. (details)
19. fix: draw path contour. (details)
20. fix: fillpoly (details)
21. fix: esdf calculation v2. (details)
22. fix: safe corridors generation. (details)
23. fix: optimization using sc data. (details)
24. fix: extract esdf map. (details)
25. fix: add sc to opt process. (details)
26. fix: add Poly_Cal_Status (details)
27. fix: enlarge SC (details)
28. fix: init map size (details)
29. fix: draw_wbca bug. (details)
30. fix: DataRender (details)
31. fix: fill FillLaneWithFixedWidth (details)
32. fix: add front_end (details)
33. fix: change map resolution for hybrid a star. (details)
34. fix: using shared_ptr (details)
35. fix: safe corridors optimization. (details)
36. fix: add wbca_manager, wbca_data. (details)
37. fix: delete map_path (details)
38. fix: add path_optimization_task (details)
39. fix: path_opt_task (details)
40. fix: update car parameter. (details)
41. fix: add qt thread in path_opt_task. (details)
42. fix: wbca multi thread bug. (details)
43. fix: extend route out of SC (details)
44. fix: init parameters. (details)
45. fix: refine path_opt (details)
46. fix: sc bug (details)
47. fix: add front_end_path (details)
48. fix: add back_end_path (details)
49. fix: front_end_path from reference_line. (details)
50. fix: consider deviation from history. (details)
51. fix: add CalcDeviationFromHisCost (details)
52. fix: add CheckReplan (details)
53. fix: CalRectangle. (details)
54. fix: path stability. (details)
55. fix: add init steer constraint. (details)
56. fix: add fill road (details)
57. fix: add dilate. (details)
58. fix: add FIRI and it's 2d version for SC generation. (details)
59. fix: using new SC for path opt (details)
60. fix: add new SC Opt method. (details)
61. fix: add ego_dense_vertices. (details)
62. fix: SC constrain optimization. (details)
63. fix: using pure h-polytgon for SC constraint. (details)
64. fix: delete outer_normal. (details)
65. fix: add obstacle and ogm_points in grid_map for opt. (details)
66. fix: wbca history optimization. (details)
67. fix: add path_opt module. (details)
68. fix: re-plan for collision. (details)
69. fix: ignore last 2 SC (details)
70. fix: DrawESDFGradient bug (details)
71. fix: add scenario. (details)
72. fix: add upper_ogm_pts (details)
73. fix: init path without SC. (details)
74. fix: temp (details)
75. fix: add WBCAStartPos, debug code. (details)
76. fix: Gen SC using Galaxy (details)
77. fix: update grid_map using Boundary. (details)
78. fix: FrontEndPathFromSearch (details)
79. fix: start pos error. (details)
80. fix: fix route, add Status. (details)
81. fix: boundary (details)
82. fix: road_boundary bug. (details)
83. fix: drivable_passage interval  = 0.5 (details)
84. fix: add WBCAWayPoints and WBCAHelper (details)
85. fix: delete heading rate. (details)
86. fix: WBCAData serialization. (details)
87. fix: lat_start_pt behind history. (details)
88. fix: add local_wbca_manager. (details)
89. fix: add debug mode. (details)
90. fix: spatial-temporal version. (details)
91. fix: using esdf. (details)
92. fix: ego_vertices in center line. (details)
93. fix: esdf serialization. (details)
94. fix: add velocity and acceleration cost. (details)
95. fix: delete log. (details)
96. fix: Boundary reference line reconstruction. (details)
97. fix: replace kinetics_bd with raw obstacle_bd (details)
98. fix: route reset. (details)
99. fix: kappa cost, keep in lane center. (details)
100. fix: vel/acc cost bug. (details)
101. fix: add minimum velocity cost. (details)
102. fix: add weight_min_d (details)
103. fix: reduce log. (details)
104. fix: release mode. (details)
105. fix: keep history when path generation failed. (details)
106. fix: using draw_radar. (details)
107. stash: qiangang search (details)
108. fix: boundary bug (details)
109. fix: add smooth mode. (details)
110. fix: delete log. (details)
111. fix: buffer distance. (details)
112. fix: kappa direction. (details)
113. fix: add car_path_opt (details)
114. fix: start point kappa direction. (details)
115. fix: bulk bug log test. (details)
116. refactor: path_optimization (details)
117. fix:修复状态机切换的bug (details)
118. fix: qg search algorithm (details)
119. fix: qg search (details)
120. fix: bulk move to lock. (details)
121. fix: enlarge bulk_align_lock_thr for manual (details)
122. fix: add imv_path_optimization. (details)
123. fix: auto start error. (details)
124. fix: add imv_wbca_manager (details)
125. feat:车辆静止后再切换bulk lock (details)
126. feat:调整remote 状态机逻辑 (details)
127. feat:添加忽略身后障碍物的开关 (details)
128. fix:关闭debug (details)
129. feat:优化绕行决策 (details)
130. refactor:优化弯道限速 (details)
131. fix: draw trailer using trailer_state. (details)
132. fix:修复使用历史边界的bug (details)
133. fix:修复状态机切换的bug (details)
134. fix: beta differentiable morphism (details)
135. fix: Steer cost. (details)
136. fix: bound_width (details)
137. fix: truck reverse traveling (details)
138. fix: commit bug (details)
139. fix: idx check (details)
140. fix: 参考线heading不反转，反转path heading/yaw (details)
141. feat:适配水沟数据 (details)
142. fix: imv init state. (details)
143. feat:根据障碍物的速度收缩边界 (details)
144. fix: start posture from history. (details)
145. fix: car start posture from history. (details)
146. fix:使用历史带来的问题 (details)
147. fix_out: bulk状态机切换bug (details)
148. fix_out: bulk状态机切换bug (details)
149. feat:添加绕行使用纵向扩展障碍物的开关 (details)
150. fix: car_path_opt bug. (details)
151. fix: reversing path_opt for car. (details)
152. fix: reversing path_opt for imv. (details)
153. feat:地图接口检测到崩溃后，直接中止程序 (details)
154. fix: using path_opt vei for lattice. (details)
155. refactor:优化弯道提速 (details)
156. feat:1.修改碰撞检测的距离判断 2. 优化预测线挡停场景 (details)
157. fix: stitch backward (details)
158. fix: reverse path heading (details)
159. feat:添加绕行限速 (details)
160. fix:修复误触发绕行的bug (details)
161. fix:修复崩溃的bug (details)
162. feat:添加绕行限速和优化绕行决策 (details)
163. fix: using reversing truck scenario. (details)
164. fix: reversing truck contour. (details)
165. fix: feat into liaodou (details)
166. fix: wbca_way_pts error. (details)
167. fix: draw_wbca_rlt bug. (details)
168. fix: lane change path error. (details)
169. fix: add lane change params. (details)
170. fix:修复和障碍物抢路的bug feat:把锥桶设置成感兴趣的障碍物 (details)
171. feat:当缓冲区点 任务终点 当前位置 比较靠近时，进入park状态机后，直接切换道park adjust (details)
172. fix:1.关闭cut in 限速。 2. 修复绕行限速的bug (details)
173. fix: draw way pts. (details)
174. fix: add ssep param (details)
175. fix:修复utun的junction 边界计算错误的bug (details)
176. fix:绕行等待 s计算的bug (details)
177. fix: collision avoidance bug. (details)
178. fix:修复静态障碍物碰撞检测的bug (details)
179. fix: qg ssep (details)
180. fix: imv kappa gradient calc error. (details)
181. fix: add parameters. (details)
182. fix: max_steer 0.35 (details)
183. fix: kappa cost. (details)
184. fix:修复小地图显示的问题 (details)
185. refactor:优化绕行禁停 (details)
186. fix: add target pass pt and  search reference (details)
187. fix: cost_kappa = 100.0 (details)
188. fix: beta cost bug. (details)
189. fix: generate  pass pt base rule (details)
190. fix: clear history when stop in bend. (details)
191. fix: clear history when stop in bend. (details)
192. fix:add ssep map object (details)
193. fix: 索引超限修复 (details)
194. fix: clear wbca_data except normal_follow. (details)
195. fix:bulk out replan thr 0.2 to 1.0 (details)
196. fix:bulk out replan thr 0.2 to 1.0 (details)
197. fix: add bulk in near dest change safe dis (details)
198. fix: add bulk in near dest change safe dis (details)
199. fix: safe buffer near dest logic (details)
200. fix: safe buffer near dest logic (details)
201. fix: qg _dest safe dis logic (details)
202. fix: qg _dest safe dis logic (details)
203. fix: delete undefinde dis thr (details)
204. fix: ssep use set theta (details)
205. fix: optimize wbca_data serialization (details)
206. fix: disable kappa cost in smooth mode. (details)
207. fix: disable kappa cost in smooth mode. (details)
208. fix: add truck wbca (details)
209. fix:修复跟车体感不好的问题 (details)
210. fix: trailer collision avoidance. (details)
211. fix: curve boundary (details)
212. fix: using underlying_trailer_width. (details)
213. fix: code refactor. (details)
214. feat:适配replayer的打开 (details)
215. fix:接受指令时，由于s不在路径上，获取heading失败，导致接受任务失败的问题 (details)
216. fix: junction boundary bug. (details)
217. fix: idx (details)
218. feat:地图接口参数 赋值默认值 (details)
219. fix:修复绕石墩过程中， 误回目标车道的bug (details)
220. fix:调整绕行决策的条件 (details)
221. fix: add crabs cost for imv. (details)
222. fix:修复绕行状态无法推出的bug (details)
223. fix: local_optimization length = 15m (details)
224. fix: log plan_cycle interval. (details)
225. fix: show wbca rlt. (details)
226. fix: smooth_mode for truck-trailer. (details)
227. fix: delete log (details)
228. fix: draw esdf (details)
229. fix: 索引超限修复 (details)
230. fix: 索引超限修复 (details)
231. fix: add ProcProcessCallBack (details)
232. fix: replan for imv (details)
233. fix: way_pts bug. (details)
234. fix: log cycle interval. (details)
235. fix: in_region_width = 0.2 (details)
236. fix: using ros::rate.sleep (details)
237. Revert "fix: using ros::rate.sleep" (details)
238. fix: generate road boundary from envelops (details)
239. fix: stop warning (details)
240. fix: smooth mode for imv (details)
241. fix: disable crabs cost for imv. (details)
242. fix: 崩溃修复，openspace 和ex_lane_change_planner切换 (details)
243. fix: crabs cost only be activated in straight lane. (details)
244. feat:添加低速障碍物的绕障功能 (details)
245. feat:添加低速障碍物的绕障功能 (details)
246. fix: imv smooth mode. (details)
247. Revert "Merge remote-tracking branch 'origin/feat_wbca_st' into feat_wbca_truck" (details)
248. feat:驾驶走廊 (details)
249. fix: 一次规划跨多个车道/section终点值计算错误的bug (details)
250. feat:添加dp搜索算法 (details)
251. feat:使用dp的结果构建边界 (details)
252. fix: 在弯道中禁止时触发下个弯道搜索，扩大搜索边界 (details)
253. feat:固定dp搜索点 (details)
254. fix: use_func_simulator = false, map_version = true (details)
255. fix: imv crabs mode. (details)
256. fix: disable shift near destination. (details)
257. fix: delete debug local path. (details)
258. fix: imv crabs mode selection. (details)
259. fix:修复崩溃的bug (details)
260. fix: Velocity cost opt. (details)
261. feat: 优化 trajectiory csot (details)
262. refeat:优化绕行决策 (details)
263. feat:添加驾驶走廊约束 (details)
264. feat:调整障碍物权重 (details)
265. feat:添加决策 (details)
266. feat:完善快照功能 (details)
267. feat:调整小地图的显示 (details)
268. fix:修复cost 计算错误的bug (details)
269. fix:小地图尺寸显示的问题 (details)
270. feat:绕行时，对堆高机类型的障碍物再次膨胀 (details)
271. fix: PathSegmentIsStraightLine bug. (details)
272. feat:dp搜索时， 不可绕行区域的特殊处理 (details)
273. fix: keep heading in smooth mode. (details)
274. fix:修复弯道禁停停车的bug (details)
275. feat:优化普通道路限速的问题 (details)
276. feat:1.添加绕行状态及2.绕行限速3.绕行停车等待 (details)
277. fix:修复锥桶不偏移的bug (details)
278. fix:修复决策停车的bug (details)
279. feat:优化dp cost的计算 (details)
280. fix:修复回放的bug (details)
281. Revert "fix:修复决策停车的bug" (details)
282. feat:side pass 过程中， 目标车道保持为当前车道 (details)
283. fix: add start_up_weight. (details)
284. fix: weight_start_up in cfg_lat_plan (details)
285. fix: imv reversing path heading bug. (details)
286. fix: path exception. (details)
287. fix:修复崩溃的bug (details)
288. refactor:优化轨迹的绘制 (details)
289. feat:不绕行区域，ref l 不强制赋值0 (details)
290. fix:修复长弯道，限速的问题 (details)
291. refactor:误绕行的优化 (details)
292. fix: reset wbca_data. (details)
293. fix: construct passing pt & map obj (details)
294. fix: imv path bug. (details)
295. fix: wbca_data serialization. (details)
296. fix: wbca serialization (details)
297. fix: prepare_default bug. (details)
298. fix: last trajectory bug. (details)
299. fix: stitch ssep path (details)
300. fix: ssep bulk align (details)
301. fix: local_optimization for car. (details)
302. fix: disable cost_min_d for imv in local_opt mode. (details)
303. fix: map obj (details)
304. fix:lka堆出时， 从当前点开始规划 (details)
305. fix: redundant variable (details)
306. fix: click img (details)
307. fix: click_image (details)
308. feat: ssep on fence search (details)
309. feat:优化石墩绕行的决策 (details)
310. feat:打开release (details)
311. feat:调整前后帧距离校验的阈值 (details)
312. fix: search bound & stage (details)
313. fix: truck bulk scenario (details)
314. fix: plan region优化 (details)
315. fix: backward stage用dubin曲线来决定是否向前搜索 (details)
316. fix: 散货状态机&绘制朝向角度 (details)
317. fix: using smooth near destination when type = buffer. (details)
318. fix: disable_region_dis2dest_buffer = 100.0 (details)
319. fix: wbca params (details)
320. feat:优化绕行决策 (details)
321. fix: xilian bulk (details)
322. fix:routing data match (details)
323. fix: extend path heading (details)
324. fix: w_deviation = 50, w_collision = 150. (details)
325. fix: into yard low bay judge (details)
326. fix: bend decider add area (details)
327. fix: seaside search expend shore crane param (details)
328. fix: seaside search (details)
329. feat:在直行道理打开场桥的碰撞检测 (details)
330. feat:优化忽略的逻辑 (details)
331. fix: extend shore crane stop func (details)
332. fix:修复关路禁停的bug (details)
333. fix: routing data nearest lane 20 to 30 (details)
334. fix:修复限速的bug (details)
335. fix: plan region (details)
336. fix:修复限速的bug (details)
337. feat:关路点云， 进出堆场 和穿场都处理 (details)
338. fix: reset wbca_data when scenario changed. (details)
339. fix: add pjpo_bound_width (0.2) (details)
340. add: source yard grid info (details)
341. fix: use occupy grid info for bulk search (details)
342. fix: boundary length after ego = 20 (details)
343. fix: ssep path extend (details)
344. fix: 西联9号库搜索边界 (details)
345. fix: 西联9号库搜索边界 (details)
346. fix: bulk lane match (details)
347. fix: bulk lane match (details)
348. fix: plot (details)
349. fix: plot (details)
350. fix: show_uradar_ = false. (details)
351. fix: boundary in seaside. (details)
352. fix: search region for qiangang (details)
353. fix: IsBulkInReverse judge (details)
354. fix: bend decider for lane change use switch target lane id (details)
355. fix: reverse direction judge (details)
356. fix: ssep data serialize (details)
357. fix: extend end pos in out seaside (details)
358. fix: out yard in dx extend obstacle (details)
359. fix: hairun out yard high bay in middle lane tunnel (details)
360. fix: auto start in forward ssep bug (details)
361. fix (details)
362. fix: scenario in ssep switch logic (details)
363. fix: seaside search int out seaside (details)
364. fix: ssep serialize bug (details)
365. fix: 搜索模式判断 (details)
366. fix: ssep serialize version (details)
367. feat:提取的数据添加transmit command (details)
368. fix: 大榭低贝位搜索优化 (details)
369. fix: ssep data reset logic (details)
370. fix: ssep reset bug (details)
371. fix: 大榭N场调整 (details)
372. add: draw yard area info (details)
373. fix: bulk out场景才校验参考线 (details)
374. fix:错误的进行场桥碰撞检测 (details)
375. fix: add heading_morphism_coeff for imv_path_opt. (details)
376. fix: 缓冲点附近被挡停，切入park_lock (details)
377. fix: draw map (details)
378. fix:修复move brake， move nstop, move estop状态下，规划曲线的减速度 (details)
379. fix: 前港缓冲点不施加终点约束&不回退障碍物 (details)
380. fix: 打开搜索边界 (details)
381. feat:wcba和dev分支合并 (details)
382. feat:鸣笛参数默认修改为false (details)
383. add: hmi draw obj line (details)
384. fix: lock guard (details)
385. fix: hmi draw obs & occupy grid (details)
386. fix: yaml-cpp (details)
387. fix: yard grid process (details)
388. fix: 搜索失败回退时，采用随机途经点搜索 (details)
389. fix: lock2adjust (details)
390. feat:添加基于参考线的引导线 (details)
391. fix: lock2adjust修复&根据堆场id取消start_tunnel (details)
392. fix: 搜索失败时回退栅格&区分占据和未定义栅格的颜色 (details)
393. fix:修复og点停车原因错误的bug (details)
394. fix: radius (details)
395. fix: lock2adjust阈值 (details)
396. fix: QG步进时不控转向 (details)
397. feat:pnc junction (details)
398. feat:完善guide line的数据结构 (details)
399. feat:wbca适配 (details)
400. feat:调整场景基类 (details)
401. cache:编译通过 (details)
402. feat:地图限速 (details)
403. fix:优化前港显示 (details)
404. feat:优化road boundary的计算 (details)
405. fix: 倒车卸料任务，被挡停时切lock (details)
406. fix: judge in yard (details)
407. fix:优化前港显示 (details)
408. fix: 朝向角增加参数配置 (details)
409. fix: 角度不满足，挡停时切到stop_auto (details)
410. fix:merge bulk flag (details)
411. feat:在参考线上ok (details)
412. fix: flow_control.FromHis&crash fix (details)
413. fix: 触发挡停时才不进入stop_auto (details)
414. add: taiyangzhiye region (details)
415. refactor:修复远望系统序列化的bug (details)
416. feat:倒车ok (details)
417. fix:修复bulk out 场景识别错误的bug (details)
418. refactor:修改场景参数 (details)
419. feat:适配快照 (details)
420. fix: 搜索失败时使用随机途经点 (details)
421. fix: 优化前港搜索引导线 (details)
422. fix:qiangang search start pos from ref line (details)
423. fix: reverse search 增加hmi交互障碍物 (details)
424. refactor:调整关路禁停的点云的过滤方式 (details)
425. fix:连续路口拼接的bug (details)
426. fix: get  gate line crash bug (details)
427. fix: IsBulkInReverse judge (details)
428. refactor:优化倒车处理 (details)
429. fix: forward search bezier guide line (details)
430. fix:修复起始点选取的bug (details)
431. fix:修复dp搜索的bug (details)
432. fix:修复引桥线拼接模式的bug (details)
433. fix:修复回放崩溃的bug (details)
434. fix: hmi_virtual_obs文件权限修复 (details)
435. fix: 修改hmi绘制障碍物的文件存放位置 (details)
436. fix: load file path (details)
437. fix: travel out 2 normal logic (details)
438. fix: add search process flag (details)
439. fix: lock2adjust条件修复 (details)
440. fix: safe distance for bulk reverse in yard (details)
441. feat:map related相关的数据降频处理 (details)
442. feat:优化dp搜索 (details)
443. fix: velocity constrain opt. (details)
444. fix: expend search area (details)
445. fix: 状态机切换的bug (details)
446. fix: 安全模块提前接管切lock (details)
447. Revert "fix: velocity constrain opt." (details)
448. feat:优化snapshot的快照 (details)
449. fix:修复安全模块接管，状态机不切换的bug (details)
450. feat:添加安全模块状态下拒绝对准的功能开关 (details)
451. Revert "Revert "fix: velocity constrain opt."" (details)
452. fix: 修改堆场里reverse的终点约束 (details)
453. fix: time calculation bug. (details)
454. fix: travel out not trigger ssep search (details)
455. fix:修复快照崩溃的bug (details)
456. fix (details)
457. fix: 修改lock2adjust的距离校验门限 (details)
458. fix:解决路径跳变的问题 (details)
459. fix:修复可能崩溃的bug (details)
460. fix: add search mode for travel out in qian gang (details)
461. fix: hmi交互删除障碍物改为shift+鼠标右键 (details)
462. fix: 修改删除线段的方式 (details)
463. fix:修复程序无法正常退出的bug (details)
464. feat:普通变道ok (details)
465. feat: destination type (details)
466. fix:修复普通变道场景的bug (details)
467. fix: Adjust2Lock增加投影点的横向距离校验 (details)
468. fix: 自车周围一定范围内的栅格不考虑 (details)
469. fix: add head/trailer deviation from raw_ref_line in diagnose. (details)
470. fix:修复状态机切换的bug (details)
471. fix:修复状态机切换的bug (details)
472. fix: Adjust2Lock增加投影点的横向距离校验 (details)
473. fix: 自车周围一定范围内的栅格不考虑 (details)
474. fix: destination type judge (details)
475. fix: 进料斗没有搜索途经点时，用reverse search (details)
476. fix: add change path deviation check (details)
477. fix: 修改栅格显示尺寸 (details)
478. fix: IsToBulkGantry (details)
479. fix: lock2adjust (details)
480. fix: hr high bay tunnel extend (details)
481. feat:终点后忽略障碍物 (details)
482. feat:终点后忽略障碍物 (details)
483. fix: 去缓冲点 (details)
484. fix: path optimization bug. (details)
485. fix:hr out yard end tunnel (details)
486. fix: path optimization bug. (details)
487. fix: lock2adjust不指定终点类型，堆场里2段时会有料斗任务 (details)
488. fix: 进堆场场景内，弯道外，可从当前点搜索 (details)
489. fix: st out yard end tunnel (details)
490. fix: (details)
491. fix:挂角无效时，云端轨迹赋值-1000.0 (details)
492. cache (details)
493. fix: weight_start_up = 10.0 (details)
494. fix: out seaside in region 100 (details)
495. fix: dx into yard end tunnel offset 0.1m (details)
496. feat:添加dubug 模式下， eigen库的优化 (details)
497. fix: qg forward ssep (details)
498. fix: 1. replan logic 2.forward search start pt (details)
499. fix: 末段ssep路径才切lock (details)
500. feat:优化wcba的绘制 (details)
501. feat:弯道提速 (details)
502. feat:弯道提速 (details)
503. fix: get trailer deviation from trailer_yaw. (details)
504. fix: add vehicle type identifiy (details)
505. fix: forward vehicle type (details)
506. feat:在弯道使用地图包络构建边界 (details)
507. fix: pnc target (details)
508. fix: add mission type (details)
509. fix: type error (details)
510. feat:调整Mission Type (details)
511. feat:堆料机任务，步进时，忽略og点相关的安全 (details)
512. feat:料堆任务，在bulk状态机下，安全模块错误可恢复 (details)
513. fix: perception contour crash condition for path operation (details)
514. feat:调整Mission Type (details)
515. feat:堆料机任务，步进时，忽略og点相关的安全 (details)
516. feat:料堆任务，在bulk状态机下，安全模块错误可恢复 (details)
517. fix: end tunnel & stop for cluster (details)
518. fix:切换park lock的时候考虑 close ogm emergency stop (details)
519. fix:切换park lock的时候考虑 close ogm emergency stop (details)
520. fix:修复 包络框 sl 计算的bug (details)
521. fix:修复path sl 计算条件的bug (details)
522. fix:修复path sl 计算的bug (details)
523. fix: enable O1 option. (details)
524. fix: vehicle expanding in wbca. (details)
525. feat:障碍物的sl budndary 根据 guide line 处理 (details)
526. fix: 优化回退逻辑 (details)
527. fix: add open_space_wbca_params (details)
528. refactor:优化聚类限速 (details)
529. fix:修复合并后编译的错误 (details)
530. fix: routing 第二段倒车不考虑感知包络框碰撞 (details)
531. fix:修复崩溃的bug和前港出堆场 bulk out 场景识别的bug (details)
532. fix:修复上码头收到新任务,参考线跳变的bug (details)
533. fix: add ssep scenario task change (details)
534. feat:根据实线和虚线限制roadboundary (details)
535. fix: 获取港区位置修复，防止定位后启导致的区域识别错误 (details)
536. feat:添加拒绝对准的逻辑 (details)
537. feat:remote ctrl 状态下,平行驾驶接管退出 (details)
538. fix: add initersection_wbca_params. (details)
539. fix: expand obstacle box in driving corridor. (details)
540. fix: history_pts from his. (details)
541. feat: 联和利华 (details)
542. Revert "fix: 获取港区位置修复，防止定位后启导致的区域识别错误" (details)
543. fix: 通过开关调整步进不控转向 (details)
544. fix:修复崩溃的bug (details)
545. refactor:修复远望系统序列化的bug (details)
546. fix: into yard end tunnel in left decrease 0.1m (details)
547. fix: travel out replan logic (details)
548. fix: guardian mode set (details)
549. fix:修复快照崩溃的bug (details)
550. feat imv reverse for ssep (details)
551. fix:修复使用历史参考线， 参考线变短的问题 (details)
552. fix:修复合并的bug (details)
553. refactor:car 人字形路径的适配 (details)
554. fix: lane_points backward. (details)
555. fix: add gantry classify (details)
556. refactor:添加序列化数据 (details)
557. fix: replan in travel out (details)
558. fix: replan in travel out param (details)
559. feat:通过时间差，清理wbca的数据 (details)
560. fix: add constrain slow down in bulk before (details)
561. fix: replan in travel out (details)
562. fix: replan in travel out param (details)
563. fix:删除日志打印 (details)
564. fix: lane_pts direction. (details)
565. fix: weihai port truck reverse (details)
566. fix:修复崩溃 (details)
567. fix: auto start in bulk out constrain (details)
568. fix:修复imv 车型 wcba 求解器时间不赋值的bug (details)
569. feat:适配动态上下码头面 (details)
570. feat:远程步进时，忽略安全 (details)
571. fix: motion_remote之后不允许从lock切adjust (details)
572. fix: stitch reference (details)
573. fix: u turn search in out yard (details)
574. fix: s into yard end tunnel (details)
575. fix: no_trajectory_stop bug. (details)
576. fix: response_decision_lane_change (details)
577. fix: open space search end in loc station (details)
578. fix: continuous bend in open space (details)
579. fix:修复忽略安全的bug (details)
580. fix:修复崩溃的bug (details)
581. fix: into yard search  in end lane size 1 (details)
582. fix: into yard tunnel reference guide (details)
583. refactor:手刹不中止直线步进 (details)
584. feat:调整安全模块区域限速 (details)
585. fix: 1.scenario before bend 2.into yard low bay (details)
586. fix: stockpile end tunnel (details)
587. feat:西连进充电桩使用平滑模式 (details)
588. fix: road boundary optimization for no_shift_region. (details)
589. fix: add weight_collision_negative in wbca. (details)
590. feat:引导线添加转向的属性 (details)
591. fix: continuous bend ssep identify (details)
592. fix: ssep data keep history for backup (details)
593. fix: close info in base stop line (details)
594. fix: start_up acc limitation. (details)
595. fix:merge bug (details)
596. fix: wei hai search tunnel (details)
597. fix: 西联centerline 匹配的bug (details)
598. fix:修复wcba 图生成耗时的bug (details)
599. fix:修复西联出停车位场景， 一次规划有两段路径时， 当前段匹配错误的bug (details)
600. fix: 增加imv变道时Contour的扩展，防止og点校验和安全模块不一致导致的挡停 (details)
601. fix: qg path operation (details)
602. fix:修复状态机切换的bug (details)
603. fix: extend ssep path (details)
604. fix: ssep crash (details)
605. fix:优化回放路径的生成 (details)
606. fix: trailer_ego_path bug. (details)
607. fix: wh car search ssep reference (details)
608. fix:挂角无效时，云端轨迹赋值-1000.0 (details)
609. fix:bulkload 状态下 没有云端路径的bug (details)
610. feat:变道安全调整 (details)
611. fix: add lateral acc cost( disable) (details)
612. refactor:1优化guide的转向，2.静态障碍物的扩展3.dp结果的不稳定 (details)
613. refactor:删除多余的打印 (details)
614. fix:驾驶走廊是否考虑ogm的赋值bug (details)
615. fix:调整扩展 (details)
616. fix: wbca path length optimization. (details)
617. fix: wbca path len bug. (details)
618. fix: ssep extend direction (details)
619. fix: wbca smooth mode for align_step_move (details)
620. fix: using ssep destination for bulkload_ssep_forward_stage. (details)
621. feat:绕行限速参数化 (details)
622. fix: expand road_boundary for startup (details)
623. fix: collision cost for no_shift region. (details)
624. feat:障碍物提阿加平均速度 (details)
625. fix:场桥场景识别的bug (details)
626. feat:添加进堆场的跟车距离 (details)
627. fix:在ssep路径上，偏离边界时，扩展边界的bug refactor:优化边界构建 (details)
628. fix:修复imv停车位，终点方向计算的bug (details)
629. fix: start_up boundary. (details)
630. fix: smooth mode for imv (details)
631. fix: add total_length and start_point. (details)
632. fix: start_point in replayer. (details)
633. fix: draw history ogm in replayer. (details)
634. refactor:优化吊具信息的校验 (details)
635. feat:装后箱的高度判断参数化 (details)
636. fix: replayer boundary bug. (details)
637. feat:沟点不进行碰撞检测 (details)
638. fix: add to_normal (details)
639. feat:低速时,降低安全阈值 (details)
640. 1.修复hybrid_search_car的崩溃问题 (details)
641. fix: merge bug. (details)
642. fix: update config (details)
643. fix: truck config. (details)
644. fix: road boundary in lat/lon road. (details)
645. fix: proc process callback. (details)
646. fix:修复由于平滑或者ssep路径拼接，导致参考线overlap的s问题bug (details)
647. fix: bd_extend_start_pt update. (details)
648. fix: bd_extend_start_pt update. (details)
649. fix:修复region错误的bug (details)
650. fix: road_boundary opt. (details)
651. fix:修复编译的错误 (details)
652. fix:极限变道的bug (details)
653. feat:brake到norm切换添加开关 (details)
654. fix:回放中,SL 边界没有计算的bug (details)
655. fix:修复倒车过程中，后向障碍物不考虑的bug (details)
656. fix:修复dp结构不稳定的bug (details)
657. fix:临时解决状态机切换的bug (details)
658. feat:1. 散水池和不可以绕行区域的处理2.静态障碍物的扩展优化 (details)
659. feat:海南洋浦适配 (details)
660. fix:变道的bug (details)
661. fix: add sweep area for road_boundary. (details)
662. fix: area expanding = 0.1 (details)
663. fix: imv backward align_step_forward bug. (details)
664. fix: imv backward align_step_forward bug. (details)
665. fix: add sweep area for road_boundary. (details)
666. fix: delete sweep_area log. (details)
667. feat:路径消失的bug (details)
668. feat:绕行的优化 (details)
669. feat:转向限速添加功能开关 (details)
670. feat:修改驾驶走廊 障碍物的膨胀 (details)
671. fix:修复崩溃的bug (details)
672. fix:修复og的bug (details)
673. fix: into yard low bay tunnel (details)
674. feat:添加是否sweepboundary的参数和修复崩溃的bug (details)
675. fix: steering rate speed constrain optimization. (details)
676. fix: steering rate speed constrain optimization. (details)
677. fix: add use_func_boundary_expanding_for_start_up_=false. (details)
678. fix: add use_func_boundary_expanding_for_start_up_=false. (details)
679. fix:修复冲路径突判断的bug (details)
680. fix: yangpu 进出堆场适配 (details)
681. fix:修复dp结果跳变的bug (details)
682. fix: normal junction search (details)
683. fix:修改guardian区域和no shift 区域 重叠区域， wcba 求解失败的bug (details)
684. feat:添加龙须点的支持 (details)
685. fix: delete local_wbca in path_task_opt (details)
686. fix:修复合并的bug (details)
687. fix:xl park search bug (details)
688. fix: wbca_optimizer in plan thread. (details)
689. fix: delete static variable. (details)
690. fix:狭窄区域，回目标车道的bug (details)
691. fix: init tt curve manager (details)
692. fix: upper collision detection option for path_time_graph. (details)
693. fix:修复快照内存泄漏的bug (details)
694. fix: display history ogm in replayer. (details)
695. fix: car wbca bug. (details)
696. fix: init_wbca_manger. (details)
697. fix:参考线拼接的bug (details)
698. fix:修复路径冲突判断的bug (details)
699. fix:参考线拼接的bug (details)
700. fix:修复路径冲突判断的bug (details)
701. fix: path_optimization_task for debug_mode. (details)
702. fix:修复park场景不变道的bug (details)
703. fix:修复park场景不变道的bug (details)
704. fix:修复回放变道路径不显示的bug (details)
705. fix:修复回放变道路径不显示的bug (details)
706. fix: wbca weight_deviation=10.0 (details)
707. fix: wbca result in debug mode (details)
708. fix: wbca failed if ptr_esdf_map == null (details)
709. fix: wbca failed if ptr_esdf_map == null (details)
710. fix: init tt curve manager (details)
711. fix: yp low bay classify (details)
712. fix: close search base log (details)
713. fix: using stacker_crane polygon in drivable passage. (details)
714. fix: draw path_bd in guide_line_info. (details)
715. fix: truck/car params. (details)
716. fix:优化wcba 开线程参数传递修改为copy的方式 (details)
717. fix:绘制 guideline 相关的边界数据 (details)
718. fix:pjpo 求解失败的bug (details)
719. feat:偏离限速的bug (details)
720. fix: copy wbca_data in debug_mode. (details)
721. fix:修复junction overlap 前驱 后继 获取的bug (details)
722. fix: copy wbca_data in debug_mode. (details)
723. Extract line segments from ogm and use og line obstacles in ssep. (details)
724. SSEP line obstacle适配前港 (details)
725. resolve conflicts (details)
726. fix:pnc map path 中drivable l 计算的bug (details)
727. fix: road boundary opt. (details)
728. fix: shift_l compensation bug. (details)
729. fix: wbca_opt debug mode. (details)
730. fix: params for yangpu (details)
731. fix:修复变道准备阶段road boundary的bug以及路径条跳变的bug (details)
732. fix: open space down intersect search failed (details)
733. fix:修复快照内存泄漏的bug (details)
734. fix: open space down intersect search failed (details)
735. fix: stitch back up ssep pathfor open space (details)
736. improve latency of line segment extractor (details)
737. fix:修复云端障碍物显示的bug (details)
738. feat:ogm lines replyaer 处理优化，并且添加功能开关 (details)
739. fix: wbca velocity reference optimization. (details)
740. fix: road boundary opt. (details)
741. fix: shift_l compensation bug. (details)
742. fix:修复驾驶走廊不现实的bug (details)
743. fix: ignore IMV and C2V obstacle when build_ogm (details)
744. fix: imv parameters. (details)
745. fix: draw path boundary. (details)
746. fix: 1.qg calib param 2.add extract yard grid info (details)
747. fix: xl park search  faild (details)
748. fix: start_pos bug (details)
749. fix: velocity generator for imv. (details)
750. fix: lka for single side lane points. (details)
751. fix: update bound_width for yangpu (details)
752. feat:天津是否聚类og点的开关 (details)
753. fix:参考线拼接的bug (details)
754. fix:平滑的bug (details)
755. refactor:优化路径拼接 (details)
756. fix:删除日志打印 (details)
757. fix:修复崩溃的bug (details)
758. 修复ogm线段提取时访问越界的问题 (details)
759. fix: sweep area in bend. (details)
760. fix: boundary expanding bug. (details)
761. fix:使用ssep路径过程中,无法打点的bug (details)
762. fix:修复imv wcba 求解成功后,is_success不赋值的bug (details)
763. fix: wbca process_debug bug. (details)
764. fix: wbca process_debug bug. (details)
765. fix: reverse search truck (details)
766. fix: wbca debug mode bug. (details)
767. fix: wbca debug mode bug. (details)
768. fix: vehicle_type error in wbca.. (details)
769. fix: vehicle_type error in wbca.. (details)
770. fix: msg error. (details)
771. fix:修复多线程竞争导致的崩溃bug (details)
772. fix:优化扩展岸桥禁停 (details)
773. fix:优化扩展岸桥禁停2 (details)
774. fix:代码格式 (details)
775. fix:优化扩展岸桥禁停 (details)
776. fix:优化扩展岸桥禁停2 (details)
777. fix: replayer bug. (details)
778. fix:修复扩展引桥， 显示不对的bug (details)
779. fix:修复扩展引桥， 显示不对的bug (details)
780. feat:减少聚类停车 (details)
781. Add skeleton and samplers for geometric searcher (details)
782. tmp commit (details)
783. fix: lka deviation. (details)
784. add topology analysis (details)
785. fix sl-projection-map crashing issue (details)
786. fix:参考线哦拼接优化 (details)
787. fix: pnc_map_path bug. (details)
788. Complete geometric search V1.0 (details)
789. fix: add dg search simulator (details)
790. fix: ssep cmakelist (details)
791. fix: ssep yaml (details)
792. fix:锁站不走中间的bug (details)
793. fix:修复倒车规划的bug (details)
794. fix:1.当前车道识别错误的bug2.当时车道识别错误后，后继车道连接跳变的bug (details)
795. feat:直线步进的时候,添加忽略安全的逻辑 (details)
796. feat:直线步进的时候,添加忽略安全的逻辑 (details)
797. fix:参考线构建的bug (details)
798. fix:参考线构建的bug (details)
799. fix: CHECK(var_size_ <= SDLQ_MAX_VAR_SIZE) (details)
800. fix: CHECK(var_size_ <= SDLQ_MAX_VAR_SIZE) (details)
801. fix:倒车场景切换的bug (details)
802. fix:调整安全相关的逻辑 (details)
803. refeat:优化终点计算，路径方向切换， guide line 拼接 (details)
804. fix: add ssep calib param for reverse (details)
805. feat:优化bug (details)
806. fix: clear steer for backward align. (details)
807. fix: add use_func_clear_steer_for_backward_align (details)
808. fix:修复终点距离计算 和 引导线拼接的bug (details)
809. Improve the latency of reading TTCurveTrajectoryLib. (details)
810. Decrease the "max_safety_buffer". (details)
811. feat:调整cfg static (details)
812. feat:代码合并的bug (details)
813. fix:不添加停止线的bug (details)
814. 修复了SSep路径段数错误的问题，对前后方向切换时增加了路径延长策略，修复了结果不是最优路径的问题。。。 (details)
815. feat:合并的bug (details)
816. fix: imv wbca parallel mode: dheading < 1deg (details)
817. feat:调整上下层的显示 (details)
818. fix: vehicle_type_->vehicle_type() (details)
819. feat:更新序列化 (details)
820. feat:调整上下层碰撞 (details)
821. feat:调整上下层碰撞 (details)
822. feat:调整CMakeLists (details)
823. fix:代码合并的bug (details)
824. fix:规范成员函数的名称 (details)
825. feat:打开container size 的赋值 (details)

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