Changes

#164 (Jan 27, 2026 10:47:03 AM)

1. fix: smooth mode in yard. — wuyanjun110 / detail
2. feat:优化进堆场的约束 — wuyanjun110 / detail
3. feat:into 都使用双向搜索 — wuyanjun110 / detail
4. feat:龙门吊位置计算的bug — wuyanjun110 / detail

#163 (Jan 25, 2026 8:04:43 PM)

1. fix: add gjk — 5081703.cr / detail
2. fix: add DECELERATION. — 5081703.cr / detail
3. fix: forward_simulation bug. — 5081703.cr / detail
4. fix: lka_deviation using yard_name. — 5081703.cr / detail
5. fix: hmi load map. — 5081703.cr / detail
6. fix: deceleration state optimization. — 5081703.cr / detail
7. fix: semantic_type in replayer. — 5081703.cr / detail
8. fix: forward_simulator bug. — 5081703.cr / detail
9. fix: decision logic. — 5081703.cr / detail
10. fix: decision parameters. — 5081703.cr / detail
11. fix: update lka_deviation_region. — 5081703.cr / detail
12. fix: add deviation around stacker/dest. — 5081703.cr / detail
13. fix: wbca path length — 5081703.cr / detail
14. fix:add driving_corridor_ogm_dilate_size — 5081703.cr / detail
15. fix: boundary shift in yard. — 5081703.cr / detail
16. fix: add usef_func_after_destination_wbca_no_shift_mode. — 5081703.cr / detail
17. fix: lattice error for lon_decision deceleration. — 5081703.cr / detail
18. fix: shif out yard. — 5081703.cr / detail
19. fix: shift into&out yard — 5081703.cr / detail
20. fix: lattice error for lon_decision deceleration. — 5081703.cr / detail
21. fix: lon_decision for car. — 5081703.cr / detail
22. fix: using backward obstacle in lane changing lon_decision. — 5081703.cr / detail
23. fix: lka deviation for out_yard region. — 5081703.cr / detail
24. fix: using last_path when out_yard wbca failed. — 5081703.cr / detail
25. fix: correct imv crab mode conditions. — 5081703.cr / detail
26. fix: lka deviation through yard. — 5081703.cr / detail
27. fix: disable wbca smooth mode for seaside buffer. — 5081703.cr / detail
28. fix: extract lane_pts msg in replayer. — 5081703.cr / detail
29. fix:修复崩溃的bug — wuyanjun110 / detail
30. fix:修复崩溃的bug — wuyanjun110 / detail
31. refactor:优化关路禁停 — wuyanjun110 / detail
32. 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 — tangwenqing / detail
33. 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。 — tangwenqing / detail
34. fix: max_acc = 0.5 for wbca velocity reference. — 5081703.cr / detail
35. fix: lane_pts deviation calculation. — 5081703.cr / detail
36. feat: lane_pts debug  msg. — 5081703.cr / detail
37. fix: hmi load map. — 5081703.cr / detail
38. feat_out: path_opt in replayer. — 5081703.cr / detail
39. fix: velocity profile exception. — 5081703.cr / detail
40. fix: delete history in smooth mode. — 5081703.cr / detail
41. fix:修复封路变道的bug — wuyanjun110 / detail
42. fix:引桥前变道的bug — wuyanjun110 / detail
43. fix:可能崩溃的bug — wuyanjun110 / detail
44. fix:修复合并的bug — wuyanjun110 / detail
45. fix:修复合并的bug — wuyanjun110 / detail
46. fix: using maximum vehicle size in WBCA — 5081703.cr / detail
47. fix:人工对准误创建约束 — wuyanjun110 / detail
48. fix: abandon  last segment in wbca. — 5081703.cr / detail
49. fix: wbca debug msg. — 5081703.cr / detail
50. fix: end_velocity for wbca calc exception. — 5081703.cr / detail
51. fix: velocity profile exception. — 5081703.cr / detail
52. fix: add wbca debug var. — 5081703.cr / detail
53. fix: add lateral acc cost. — 5081703.cr / detail
54. fix: add wbca cost and time_consuming. — 5081703.cr / detail
55. fix: add wbca cost and time_consuming. — 5081703.cr / detail
56. fix: add lateral acc cost. — 5081703.cr / detail
57. feat:添加根据定位值的倒车防护，防治对准时，跟着桥走. — wuyanjun110 / detail
58. fix:修复连续普通路口搜索的bug — wuyanjun110 / detail
59. fix: wbca bd expanding. — 5081703.cr / detail
60. feat:调整搜索终点位置 — wuyanjun110 / detail
61. feat:堆高机作业关路重叠时，合并 — wuyanjun110 / detail
62. feat:park lock下 不校验地图 — wuyanjun110 / detail
63. feat:调整出堆场口的约束创建 — wuyanjun110 / detail
64. fix:修复因为距离阈值，带来场景识别错误的bug — wuyanjun110 / detail
65. fix:修复终点距离计算的bug — wuyanjun110 / detail
66. fix:修复海润进弯道后第一个停车位停不正的bug — wuyanjun110 / detail
67. fix:修复误触发open space的bug — wuyanjun110 / detail
68. refactor:优化动态搜索限速 — wuyanjun110 / detail
69. feat: lon_decision from SQ — 5081703.cr / detail
70. fix: add min_safe_ttc — 5081703.cr / detail
71. fix: v_min_coef = 9.9 wbca — 5081703.cr / detail
72. fix: disable dynamic and steering speed constraints — 5081703.cr / detail
73. feat:适配大港ssep — wuyanjun110 / detail
74. fix:堆场口禁停异常的bug — wuyanjun110 / detail
75. feat: add drving_corridor_ogm_dilate_size_in_yard — 5081703.cr / detail
76. fix: start up boundary optimization. — 5081703.cr / detail
77. fix: stacker crane wbca smooth mode thr. — 5081703.cr / detail
78. feat: low bay operation smooth — 5081703.cr / detail
79. fix: wbca smoth_mode route interval — 5081703.cr / detail
80. fix: disable smooth mode in yard. — 5081703.cr / detail
81. feat:进堆场边界优化 — wuyanjun110 / detail
82. fix:ssep搜索失败的bug — wuyanjun110 / detail
83. feat:1.根据堆场的偏移信息确定堆场相对道路的为位置。2.根据堆场位置调整约束 — wuyanjun110 / detail
84. feat:动态搜索考虑不可形式区域 — wuyanjun110 / detail
85. fix:终点在堆场出口，边界的bug — wuyanjun110 / detail
86. feat:调整 hfsm status中cur lane id的逻辑 — wuyanjun110 / detail
87. fix: truck wbca replayer debug. — 5081703.cr / detail
88. feat:优化cur laneid的赋值 — wuyanjun110 / detail
89. fix: merge bug. — 5081703.cr / detail
90. fix:搜索起点太远的问题 — wuyanjun110 / detail
91. feat:适配新的region — wuyanjun110 / detail
92. fix:修复变道过程中，更新laneid的bug — wuyanjun110 / detail
93. refactor:出堆场的起始点从参考线上选取 — wuyanjun110 / detail
94. feat: 添加lowbag 判断函数 — wuyanjun110 / detail
95. feat:添加clangd的配置文件 — wuyanjun110 / detail
96. feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行 — wuyanjun110 / detail
97. feat:规划路径和ssep路径不一致的问题分析 — wuyanjun110 / detail
98. feat:适配clang — wuyanjun110 / detail
99. refactor:适配clang编译 — wuyanjun110 / detail
100. feat:赋值的bug — wuyanjun110 / detail
101. fix:适配clang的bug — wuyanjun110 / detail
102. fix:修复甩正点的bug — wuyanjun110 / detail
103. feat:适配clang — wuyanjun110 / detail
104. feat:甩正点距离适配 — wuyanjun110 / detail
105. fix:修复路径跳变的bug — wuyanjun110 / detail
106. fix: using LD v1 — 5081703.cr / detail
107. feat:适配大谢右转进堆场 — wuyanjun110 / detail
108. feat:适配缩小根据距离 — wuyanjun110 / detail
109. feat:调整counter和进堆场障碍物考虑的条件 — wuyanjun110 / detail
110. feat:单车道区分左右边界 — wuyanjun110 / detail
111. fix:大谢单车道，低贝位判断的bug — wuyanjun110 / detail

#161 (Jan 23, 2026 12:29:38 PM)

1. fix:调整大谢进堆场路径 — wuyanjun110 / detail
2. chore: SSEP: 大榭只优化一次 — tangwenqing / detail

#161 (Jan 23, 2026 12:29:38 PM)

1. fix:增加大榭配置&&修复清空容器的错误 — haoxiangtao / detail
2. fix:修复数据存储容器错误的问题 — haoxiangtao / detail

#160 (Jan 23, 2026 11:11:27 AM)

1. Update map-png.jenkinsfile — weilikang / detail

#160 (Jan 23, 2026 11:11:27 AM)

1. fix:修复数据存储容器错误的问题 — haoxiangtao / detail