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Changes

Summary

  1. fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率 (details)
  2. chore: SSEP: minor update (details)
  3. chore: SSEP: minor updates (details)
  4. feat:car类型的普通路口搜索考虑边界 (details)
  5. fix: SSEP: 修复优化器中起点曲率没有初始化的问题 (details)
  6. fix:修复可能崩溃的bug (details)
  7. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
  8. fix: start_pt from last_path. (details)
  9. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
  10. fix:连续载入快照崩溃的bug (details)
  11. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
  12. fix: add curvature over limit temp stop. (details)
  13. fix: curvature_over_limit_stop_coefficient 10.0 (details)
  14. chore: SSEP minor updates (details)
  15. fix: truck start_pt exception. (details)
  16. fix:董家口靠边作业的问题 (details)
  17. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
  18. feat:曲率超限停车优化 (details)
  19. fix:调整曲率超限的滤波参数 (details)
  20. fix:曲率超限停车的bug (details)
  21. feat: add CalcKappaCostSigmoid. (details)
  22. fix: SSEP: 集卡进停车位时时候更严格的挂车角度 (details)
  23. feat:travel out 没有一次规划的适配 (details)
  24. fix:travel out 没有一次规划，状态机切换的bug (details)
  25. fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。 (details)
  26. fix: using ssep speed_limit for deviation. (details)
  27. fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。 (details)
  28. fix:解决合并代码需要重新编译的问题 (details)
  29. fix: SSEP: 修复前杠倒车进料堆优化失败的问题。 (details)
  30. fix:修复拼接的bug (details)
  31. fix: wbca reversing bug. (details)
  32. refactor调整切换lock的阈值 (details)
  33. feat:锁站场景不膨胀尺寸 (details)
  34. fix: minimize esdf_map (details)
  35. fix:修复崩溃的bug (details)
  36. fix: dx_norm = path_1_tmp.norm (details)
  37. fix: ignore lateral percption. (details)
Commit 6d8b01b90a73e83c5d63dc153ef5c7171781ec23 by tangwenqing
fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/offboard/scene_frame_provider.cc
Commit c9a462d299b107c5dc45f46d0722aa40ee5d6ea0 by tangwenqing
chore: SSEP: minor update

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit b4f7c119b49d613073d9d3b375ca6b588186a6ff by tangwenqing
chore: SSEP: minor updates

The file was modifieddingtalk_notify.py
The file was modifiedssep/scenarios/legacy_planner.h
Commit 44151439a0e53cc667b17e07254129dbde278706 by wuyanjun110
feat:car类型的普通路口搜索考虑边界

The file was modifiedssep/ssep_planner.cc
Commit 61a5434182f70c1dfa39f7d13cd3f1a41abc94ae by tangwenqing
fix: SSEP: 修复优化器中起点曲率没有初始化的问题

The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 3618fa7db514a6bc6eb98a54a3a3c8b7d7b5963d by wuyanjun110
fix:修复可能崩溃的bug

The file was modifieddata/map/envelop/map_envelops.cpp
Commit f127eeb730dda2de1945eb08c3ed59c44414776e by wuyanjun110
refactor:优化太阳卸料区挡停的重搜索逻辑

The file was modifiedssep/ssep_planner.cc
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit a1e87467a1da5bc638192f250825135cdaa70087 by 5081703.cr
fix: start_pt from last_path.

The file was modifieddata/plan/start_point_data.cpp
Commit 338a769cbefaa2e74bc5d68bd4a38dbf2113ba3c by tangwenqing
feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100%

The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/offboard/ssep_input_provider.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 2fa77475c73f757e92ca48b6d2c4f689e7376fdc by wuyanjun110
fix:连续载入快照崩溃的bug

The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedreplayer/logic.cpp
Commit 6d14adbd2676b9f700514425d7b866434ef14a37 by tangwenqing
fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。

The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
Commit ac5fec5eea7a6a9c3520ba21ae2028944e7452bf by 5081703.cr
fix: add curvature over limit temp stop.

The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/disable_stop_range.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/temporary_stop_data.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/constrain/block_data.hpp
Commit 4a6df680159317e1c86c6b862322ee527d587dd1 by 5081703.cr
fix: curvature_over_limit_stop_coefficient 10.0

The file was modifieddata/config/cfg_safe_const.cpp
Commit 6f9d548a5a62a2c5dbbb473030c494fa41068025 by tangwenqing
chore: SSEP minor updates

The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/common/utils/scene_frame_visualization.cc
Commit e44350fef4a97e9401ba111fe8f1724a0f67adc6 by 5081703.cr
fix: truck start_pt exception.

The file was modifieddata/plan/start_point_data.cpp
Commit c8f1bbf9716afdacb9b3cd0748ed279c3e163e75 by wuyanjun110
fix:董家口靠边作业的问题

The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit 020e0a83e2c76c9a584702ba9d3b745906d9ee74 by wuyanjun110
feat:wbca求解失败后，使用ssep路径带来的路径跳变问题

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit 76de2323c82763fdcbf6900399338d7b1b57918e by wuyanjun110
feat:曲率超限停车优化

The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/constrain/block_data.cpp
Commit 491e5cdfcf5b781a314a2af34c5d16281c770781 by wuyanjun110
fix:调整曲率超限的滤波参数

The file was modifieddata/constrain/block_data.cpp
Commit 6515c57d59de9c9707105252942d22ed57da8796 by wuyanjun110
fix:曲率超限停车的bug

The file was modifieddata/constrain/block_data.cpp
Commit 3ec02093369f59536c96444dc56f85a199a177c3 by 5081703.cr
feat: add CalcKappaCostSigmoid.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.hpp
Commit 2ca8c001689f3a35984187de05139b029c6d403a by tangwenqing
fix: SSEP: 集卡进停车位时时候更严格的挂车角度

The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
Commit 380a90acdb674c672070c41c2a087bc073a91bf5 by wuyanjun110
feat:travel out 没有一次规划的适配

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/plan/guide_line.cpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
Commit f1f39985c7264f69556adc16422a74a2ace4819d by wuyanjun110
fix:travel out 没有一次规划，状态机切换的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit e8a521b796411bce06e7845a12f3d25ba4131d12 by tangwenqing
fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。

The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_general_planner.h
Commit 5b5d630f69b1c95a3930102b2c514dc606c08945 by 5081703.cr
fix: using ssep speed_limit for deviation.

The file was modifiedplan/prepare/prepare_status.cpp
Commit 2a10cc33142c59327c146a1440b4038eade1eb30 by tangwenqing
fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit 86232c3bad191b66a196af34c219074e20e141fc by 5081703.cr
fix:解决合并代码需要重新编译的问题

The file was modified.gitignore
The file was modifiedCMakeLists.txt
Commit 660eedd899aaee86c94f019dcbad3cbcc78cc860 by tangwenqing
fix: SSEP: 修复前杠倒车进料堆优化失败的问题。

The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit 238e46cb1d29effee165726bafd5180b0ba8d0ed by 5081703.cr
fix:修复拼接的bug

The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit ce1f133cbc198256362e293b470d0155c9c6ee9d by 5081703.cr
fix: wbca reversing bug.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 624bf556a93cf138bb8a5c9f349a4f6eb19131a5 by wuyanjun110
refactor调整切换lock的阈值

The file was modifieddata/config/cfg_safe_const.cpp
Commit 6a70b86fc6f3acbe2006fdde64d0c3762a4c10d8 by wuyanjun110
feat:锁站场景不膨胀尺寸

The file was modifiedhmi/draw/draw_constrain.cpp
The file was modifiedalgorithm/plan/ego_expanding.cpp
Commit a84d66ec49368c268e2f31310f8970a01041447e by 5081703.cr
fix: minimize esdf_map

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
The file was modifiedsink/ros_sink_plan_debug.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit 0780e0351e0a19eaf0f567247d6223db032e5f04 by wuyanjun110
fix:修复崩溃的bug

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 4cf096ac8adc8aa7a90088714dae8da4c1875f46 by 5081703.cr
fix: dx_norm = path_1_tmp.norm

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit 2165c81647bf4ca5c9ce07b9eae2e1ddc9681a53 by 5081703.cr
fix: ignore lateral percption.

The file was modifiedplan/prepare/prepare_offset.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_env_const.hpp