Changes

Summary

1. feat_out:添加满都拉专用通信结构 (details)
2. feat_out:字段修改 (details)
3. feat_out:增加编队状态消息 (details)
4. feat_out:按照上智联新协议修改 (details)
5. fix_out: traffic msg (details)
6. feat_out:回退rc_dev的合并 (details)
7. fix_out: add traffic msg (details)
8. feat:平行驾驶消息添加新字段 (details)
9. Publish og line segments (details)
10. feat_out:故障码增加关联task_id (details)
11. feat_out:溯源消息增加task_id (details)
12. feat:添加货物宽度的标志位 (details)
13. feat:添加货物重量 (details)
14. feat_out:编队定位消息增加字段 (details)
15. feat_out: TosTask中block_crane_id类型由uint8变更为string (details)
16. feat:添加cargo type 标志位 (details)
17. chore: 重新定义Og line segment msg (details)
18. feat:添加变道状态机 (details)
19. 感知堆场obj输出消息增加heading,id,配对id和速度字段. (details)
20. feat:变量类型的bug (details)
21. feat:添加pnc 状态的接口 (details)
22. feat:添加忽略身后og点的标志位 (details)
23. feat:添加忽略身后og点的标志位 (details)

Commit 828d3f2269f91f60d80567560f540bc19f60040c by zhaojianfeng2 feat_out:添加满都拉专用通信结构
	platoon_msgs/msg/SelfCheckFailItem.msg
	platoon_msgs/msg/Ack.msg
	platoon_msgs/msg/Task.msg
	platoon_msgs/msg/Localization.msg
	platoon_msgs/msg/ReportErrorInfo.msg
	platoon_msgs/msg/VehicleOfflineNotify.msg
	platoon_msgs/CMakeLists.txt
	platoon_msgs/msg/ExitPlatoonAck.msg
	platoon_msgs/msg/ReqStateAck.msg
	platoon_msgs/package.xml
	platoon_msgs/msg/ReqExitPlatoon.msg
	platoon_msgs/msg/PlatoonCtrl.msg
	platoon_msgs/msg/ReqStartRun.msg
	platoon_msgs/msg/SelfCheck.msg
	platoon_msgs/msg/ReportInfo.msg
	platoon_msgs/msg/VehicleRegister.msg
	platoon_msgs/msg/VehicleRegisterAck.msg
	platoon_msgs/msg/ReqStartRunAck.msg
	platoon_msgs/msg/ReqState.msg
	platoon_msgs/msg/StateNotify.msg
	platoon_msgs/msg/Routing.msg
Commit 51a1a30733f7c9ff246ca83ef58b1b48c5a8c9df by zhaojianfeng2 feat_out:字段修改
	platoon_msgs/msg/PlatoonCtrl.msg
Commit f4c05e64a9f244c71e94f5bce1f60bed50410fc8 by zhaojianfeng2 feat_out:增加编队状态消息
	platoon_msgs/CMakeLists.txt
	platoon_msgs/msg/PlatoonStatus.msg
Commit 2b96666e00020c5eb4f6de06b63e730a7954a8de by zhaojianfeng2 feat_out:按照上智联新协议修改
	platoon_msgs/msg/Routing.msg
	platoon_msgs/msg/Task.msg
	platoon_msgs/CMakeLists.txt
	platoon_msgs/msg/Start.msg
	platoon_msgs/msg/StartAck.msg
Commit d5d0e81778f04b4590213f8d5719662d9ef1c7b7 by hongjinjin fix_out: traffic msg
	perception_msgs/msg/TrafficLightDetection.msg
	perception_msgs/msg/TrafficLightDetectionArray.msg
	perception_msgs/CMakeLists.txt
Commit 0c5d4000ac7a51aff66fdd26f895f940e422d906 by zhaojianfeng2 feat_out:回退rc_dev的合并
	platoon_msgs/msg/ReportInfo.msg
	platoon_msgs/msg/Task.msg
	platoon_msgs/msg/PlatoonCtrl.msg
Commit 1b260920b371b6c989c6ec763556bfc3758146bd by hongjinjin fix_out: add traffic msg
	perception_msgs/msg/TrafficLightDetection.msg
	perception_msgs/CMakeLists.txt
	perception_msgs/msg/TrafficLightDetectionArray.msg
Commit a2b75bec1947dec2481d2191472afb869cb73807 by wuyanjun110 feat:平行驾驶消息添加新字段
	guardian_msgs/msg/ParallelDrive.msg
Commit 545c6f462f3b4202e3b0a1ab69ab0ab23710f344 by tangwenqing Publish og line segments
	pnc_debug_msgs/msg/OgLineSegments.msg
	pnc_debug_msgs/CMakeLists.txt
	pnc_debug_msgs/msg/OgLineSegment.msg
Commit c477822fa3326a8e3c9aa1f4ab78340912c1dae5 by zhaojianfeng2 feat_out:故障码增加关联task_id
	diagnose_msgs/msg/ErrorInfo.msg
Commit 8d5ec2119ebc027638fa1a22228e2a10cd856ec9 by zhaojianfeng2 feat_out:溯源消息增加task_id
	diagnose_msgs/msg/ErrorTrace.msg
Commit 1ea1070164a49d1853d8d11c813dac5e036cf61d by wuyanjun110 feat:添加货物宽度的标志位
	ads_msgs/msg/Target.msg
Commit 81850b57dd1791516c03eb1015fc32ad30c3faf6 by wuyanjun110 feat:添加货物重量
	ads_msgs/msg/Target.msg
Commit 667c4201719898fde49a210c73f51bf5a9a3a5db by zhaojianfeng2 feat_out:编队定位消息增加字段
	platoon_msgs/msg/Localization.msg
Commit f25acd5513fac18dbdb6cc856b213872492e61dd by guolindong feat_out: TosTask中block_crane_id类型由uint8变更为string
	cloud_msgs/msg/TosTask.msg
Commit 2fe849b87b19931734a416eca2d0cffc8f70e2eb by wuyanjun110 feat:添加cargo type 标志位
	ads_msgs/msg/Target.msg
Commit 310147302f21c10a86992ee4713dee801e8414de by tangwenqing chore: 重新定义Og line segment msg
	pnc_debug_msgs/msg/OgLineSegment.msg
Commit a6844c67068c4f5b837a2ae14b509f1093f1b81f by wuyanjun110 feat:添加变道状态机
	ads_msgs/msg/HfsmState.msg
Commit 67de0d68277233e2bc33a6063941767917d957a2 by tangxiao 感知堆场obj输出消息增加heading,id,配对id和速度字段.
	perception_msgs/msg/YardObjInfo.msg
Commit 5edde714fd5009dce8a08067bfa73d09adf298d6 by wuyanjun110 feat:变量类型的bug
	ads_msgs/msg/HfsmState.msg
Commit 1060eccdc1ce393d65d835c0f86b9bb78729960e by wuyanjun110 feat:添加pnc 状态的接口
	vehicle_msgs/msg/PncStatus.msg
	vehicle_msgs/CMakeLists.txt
Commit 289cda308241280b261706930b818b90420fcb5f by wuyanjun110 feat:添加忽略身后og点的标志位
	vehicle_msgs/msg/PncStatus.msg
Commit b6b718bc02fe157f7a74391b6642a1c380cd2a3f by wuyanjun110 feat:添加忽略身后og点的标志位
	vehicle_msgs/msg/PncStatus.msg

Summary

1. fix:修复崩溃的bug (details)
2. feat:使用参考线拼接的时候 校验 横向误差和角度误差 (details)
3. feat:调整约束 (details)
4. feat:变道过程中， 考虑动态桥的预测 (details)
5. feat:移动龙门吊防护 (details)
6. feat:调整默认参数 (details)
7. feat:调整变道安全的校验 (details)
8. fix: imv search assign end state (details)
9. fix: ptr_esdf_map = nullptr (details)
10. fix: update_vehicle_state. (details)
11. fix: release (details)
12. fix:修复框内限速问题 (details)
13. fix:修复框内限速问题 (details)
14. fix: imv smooth mode bug. (details)
15. fix:修复可能崩溃的bug (details)
16. fix: crab_mode thr = 1.5 (details)
17. fix:修复可能崩溃的bug (details)
18. feat:没有横向优化器的时候，直接进行路径拼接 (details)
19. fix:修复可能崩溃的bug (details)
20. fix:修复可能崩溃的bug (details)
21. feat:没有横向优化器的时候，直接进行路径拼接 (details)
22. fix: max_start_s_to_crane = 30 (details)
23. feat:调整进出堆场口的约束 (details)
24. feat:调整可形式区域的生成 (details)
25. feat:调整进出堆场口的约束 (details)
26. feat:调整可形式区域的生成 (details)
27. feat:调整s turn 出堆场的约束 (details)
28. Revert "fix: imv search assign end state" (details)
29. fix:修复引导线s匹配带来的问题 (details)
30. feat:添加变道状态机状态 (details)
31. fix: no shift around stacker_crane. (details)
32. fix:修复junction start s 和 end s 计算的bug (details)
33. fix:修复junction start s 和 end s 计算的bug (details)
34. feat:预瞄时间调整成2.0s (details)
35. feat:调整road边界的生成 (details)
36. feat:预瞄时间调整成2.0s (details)
37. feat:调整road边界的生成 (details)
38. featL调整西联停车位约束 (details)
39. featL调整西联停车位约束 (details)
40. feat:wbca 求解失败后， 不replan (details)
41. feat:调整搜索起始点 (details)
42. refactor:变道场景切换的bug (details)
43. fix:边界构建的bug (details)
44. feat:进出堆场的弯道禁停添加参数 (details)
45. feat:出堆场口的跟车距离单独参数化 (details)
46. fix:修复park adjust  不切换 park lock的bug (details)
47. fix:参考线拼接的bug (details)
48. fix:出堆场口 随后动态搜索， ssep结果缓存的bug (details)
49. refactor:优化一次规划的显示 (details)
50. fix:修复open space 提前搜索的问题。 (details)
51. fix:修复bulk out识别的bug (details)
52. feat:wbca 求解失败后， 不replan (details)
53. refactor:变道场景切换的bug (details)
54. fix:边界构建的bug (details)
55. feat:添加进堆场口通道的显示 (details)
56. feat:调整边界封锁逆行车辆左边的通道 (details)
57. feat:更新西联停车位的约束 (details)
58. feat:修复出堆场口 提前进入动态搜索的bug (details)
59. feat:反向进T场，搜索失败 (details)
60. fix:pjpo标志位赋值的bug (details)
61. feat:出堆场口 约束调整 (details)
62. Revert "feat:添加变道状态机状态" (details)
63. fix: road_boundary bug. (details)
64. feat:opensapace 搜索晚的问题 (details)
65. fix:修复可能的崩溃bug (details)
66. feat:open space 区域 赋值 no straight (details)
67. feat:opensapace 搜索晚的问题 (details)
68. fix:调整限速的问题 (details)
69. feat:西连停车位，添加约束 (details)
70. Revert "fix:修复可能的崩溃bug" (details)
71. fix: imv smooth mode bug. (details)
72. fix: imv smooth mode bug. (details)
73. fix: steering check for truck. (details)
74. fix: imv start_pt.heading in smooth mode. (details)
75. fix: crash issue. (details)
76. fix: imv crab mode for large curvature path. (details)
77. fix: imv heading bug. (details)
78. feat:block data的调整 (details)
79. fix:修改入口禁停的bug (details)
80. fix:修复崩溃的bug (details)
81. fix:修复崩溃的bug (details)
82. fix:删除调试代码 (details)
83. fix: wbca path end pt in straight line. (details)
84. fix:调整出堆场起点约束添加的条件 (details)
85. fix:修复ssep trailer base to tractor base 载入失败的bug (details)
86. feat:调整进堆场口的边界 (details)
87. fix: wbca boundary bug. (details)
88. fix:修复出但车道堆场搜索失败的问题 (details)
89. fix: plan from cur_pt when ssep search succeed. (details)
90. fix: wbca boundary bug. (details)
91. feat:添加park 忽略安全的参数 (details)
92. fix: plan from cur_pt when ssep search succeed. (details)
93. fix: crash issue. (details)
94. fix: esdf_map=nullptr (details)
95. fix: lon_decision, using prediction for v > 8km/h (details)
96. fix: lon_decision, using prediction for v > 8km/h (details)
97. fix:修复杨浦出堆场口 搜索失败的bug (details)
98. fix:下码头面 提前搜索 (details)
99. chore: ignore (details)
100. fix:变道过程中，t目标车道获取的bug (details)
101. fix: lon_decision optimization. (details)
102. fix:修复动态搜索引导线拼接的bug (details)
103. fix: using guide_line in truck wbca smooth mode (details)
104. fix: disable crab mode for ssep_path. (details)
105. fix: max_obstacle_vel_for_ignoring_obstacle_pred (details)
106. fix: echo stop position. (details)
107. refator:优化ssep路径的缓存 (details)
108. fix:停车位停不正的问题 (details)
109. fix: add decision_period = 12 (details)
110. fix: crash issue. (details)
111. fix: start_pt kappa cal error. (details)
112. fix: ignore expired wbca_data_ (details)
113. fix: road_bd problem. (details)
114. fix: static truck. (details)
115. feat:调整苏溪岸桥搜索 (details)
116. fix: using trailer_path_ego in lon_decision. (details)
117. fix: extract lon_decision rlt. (details)
118. feat:进充电桩搜索失败的bug (details)
119. chore(version):3.6.1 (details)
120. fix:修复参考拼接的bug (details)
121. feat:删除打印日志 (details)

Commit 24f538307d3f79d83e37bee0ff53225a1d13d43f by wuyanjun110 fix:修复崩溃的bug
	data/boundary/road_boundary.cpp
Commit 7256f813d9593580239a38ec09e346a2d5230da9 by wuyanjun110 feat:使用参考线拼接的时候 校验 横向误差和角度误差
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit 3166796ebf987581785e4fbaf8666301b9ae3fe2 by wuyanjun110 feat:调整约束
	data/ssep/forward_ec.cpp
Commit e1c4c53c9d5d1918a41a7adf4590a1faa7d416ee by wuyanjun110 feat:变道过程中， 考虑动态桥的预测
	data/obstacle/obstacle.cpp
Commit 760b9deb7a1f175ccbcf6f130219b89bf9a29379 by wuyanjun110 feat:移动龙门吊防护
	data/config/cfg_safe_const.hpp
	data/config/cfg_long_plan.cpp
	data/config/cfg_safe_const.cpp
	data/constrain/block_data.hpp
	data/config/cfg_func_sw.cpp
	data/constrain/block_data.cpp
	data/plan/center_line_info.hpp
	data/config/cfg_long_plan.hpp
Commit e18723a5d9dc6b70c05372fcb3da6ddff1a662cb by wuyanjun110 feat:调整默认参数
	data/config/cfg_safe_const.cpp
Commit 0f5f645ede14c809c32e3419a1fd4e478e636f08 by wuyanjun110 feat:调整变道安全的校验
	data/config/cfg_safe_const.cpp
	data/plan/switch_data.cpp
Commit cec88a62fb3f88a256c8c1b95592e00d129e729c by tangwenqing fix: imv search assign end state
	ssep/coarse_search/hybrid_a_star_imv.cc
Commit e4a7f5f90dc206bfc23571461292104899bdfebe by 5081703.cr fix: ptr_esdf_map = nullptr
	CMakeLists.txt
	tasks/plan/path_optimization_task.cpp
Commit 420ec24f7779ae4df6c4ada88f661cfb444c10b3 by 5081703.cr fix: update_vehicle_state.
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 89cfc1cebd87c7d0e970322ca7c44ea795571c4b by 5081703.cr fix: release
	CMakeLists.txt
Commit 93115d41a05fa9b76a4e4e922764638a51582166 by wuyanjun110 fix:修复框内限速问题
	data/constrain/longitude_constrain.cpp
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
	data/config/cfg_long_plan.cpp
Commit fd94d0fc78fe1e2c30ae3f5e0ca4f8c7722c7700 by wuyanjun110 fix:修复框内限速问题
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
	data/constrain/longitude_constrain.cpp
	data/config/cfg_long_plan.cpp
Commit 7efe4a68d5e5d894eff607c16a2057dad529238a by 5081703.cr fix: imv smooth mode bug.
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 7393bbfd8ab7735206ae2349c2b8a0e2ed671e72 by wuyanjun110 fix:修复可能崩溃的bug
	data/common/path.cpp
Commit 3d9f08795dc28b2fb5d00da2f5efd04c7454ef24 by 5081703.cr fix: crab_mode thr = 1.5
	tasks/plan/path_optimization_task.cpp
Commit 6d23c117eedfd13cf26410f9f5a75b8dd2a5e24e by wuyanjun110 fix:修复可能崩溃的bug
	math/curve1d/quintic_polynomial_curve1d_rt.cpp
	math/curve1d/quartic_polynomial_curve1d_rt.cpp
	math/curve1d/quartic_polynomial_curve1d.cpp
	math/curve1d/quintic_polynomial_curve1d.cpp
Commit f5d4cc2d9dd3cd6ea144bf3c469827ac53f3febe by wuyanjun110 feat:没有横向优化器的时候，直接进行路径拼接
	scenarios/scenario.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	scenarios/scenario_interface.hpp
Commit efb407a3d39ee58ba3281f66c0a46a98b6f64493 by wuyanjun110 fix:修复可能崩溃的bug
	data/common/path.cpp
Commit 40ff29f916793ab6b9de5aa3823535ec0480e7ed by wuyanjun110 fix:修复可能崩溃的bug
	math/curve1d/quintic_polynomial_curve1d_rt.cpp
	math/curve1d/quartic_polynomial_curve1d_rt.cpp
	math/curve1d/quintic_polynomial_curve1d.cpp
	math/curve1d/quartic_polynomial_curve1d.cpp
Commit 6602d0f02d019818d34cb20c6879f2d1307e44ff by wuyanjun110 feat:没有横向优化器的时候，直接进行路径拼接
	scenarios/scenario.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	scenarios/scenario_interface.hpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
Commit 997ccb63b183d56eb391775fb2463135615e15dc by 5081703.cr fix: max_start_s_to_crane = 30
	data/ctrl/lka_start_up.cpp
Commit 2ecb9484a93b2107289b91dabd11774e61421bf4 by wuyanjun110 feat:调整进出堆场口的约束
	data/ssep/out_yard_junction_ec.cpp
	data/ssep/into_yard_junction_ec.cpp
Commit 32868e90b29ea84ebc62745f4b5f9dabf841b2b5 by wuyanjun110 feat:调整可形式区域的生成
	data/boundary/driving_corridor.cpp
Commit ab5aa5094f6d841a03175b44f8fb2f7f97fd8e8c by wuyanjun110 feat:调整进出堆场口的约束
	data/ssep/out_yard_junction_ec.cpp
	data/ssep/into_yard_junction_ec.cpp
Commit 2804b3a491a762f495c05c81bdcc5b97a0238cb7 by wuyanjun110 feat:调整可形式区域的生成
	data/boundary/driving_corridor.cpp
Commit ce88e99a461ffc27989f1d628a1d31f461e6d806 by wuyanjun110 feat:调整s turn 出堆场的约束
	data/scenario/scenario_manager.cpp
	data/ssep/into_yard_junction_ec.cpp
Commit 7a47d3c0c049211030183337be477eec7cf19d59 by wuyanjun110 Revert "fix: imv search assign end state" This reverts commit cec88a62fb3f88a256c8c1b95592e00d129e729c.
	ssep/coarse_search/hybrid_a_star_imv.cc
Commit e476cc8fa0c37040bd024956cdb7e4e9183d471d by wuyanjun110 fix:修复引导线s匹配带来的问题
	data/plan/guide_line.cpp
Commit 4e69c4ef695ddf42f5bdffef5cfdac72c72d0326 by wuyanjun110 feat:添加变道状态机状态
	sink/ros_sink_ads_hfsm_state.cpp
Commit cfe2891854228935dd64ed4551d57de9ed7bc900 by 5081703.cr fix: no shift around stacker_crane.
	data/boundary/road_boundary.cpp
	data/boundary/road_boundary.hpp
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	tasks/other_tasks/create_road_boundary.cpp
Commit 9271747a2977185f4d64e3fb067bf6fa13c65263 by wuyanjun110 fix:修复junction start s 和 end s 计算的bug
	data/map/pnc_map/pnc_map_path.cpp
Commit 7aec1e33f80ee45d402461c13d1c85fac8bc3b30 by wuyanjun110 fix:修复junction start s 和 end s 计算的bug
	data/map/pnc_map/pnc_map_path.cpp
Commit 240ae53ac2046b3b73f75f034fa059914d27162a by wuyanjun110 feat:预瞄时间调整成2.0s
	data/plan/start_point_data.cpp
Commit 187216ac3cd212d9e2ec1e6cbd0a89bef5fe54a7 by wuyanjun110 feat:调整road边界的生成
	data/boundary/road_boundary.cpp
Commit c6f231f62bf9a6e94687a2eadcc363e8a3341f14 by wuyanjun110 feat:预瞄时间调整成2.0s
	data/plan/start_point_data.cpp
Commit 91c71bc27deb8b32bf512d90431d01b2c8f00f00 by wuyanjun110 feat:调整road边界的生成
	data/boundary/road_boundary.cpp
Commit 906875ba2d3c81fe1efccdd20a334a245b42fe76 by wuyanjun110 featL调整西联停车位约束
	data/ssep/forward_ec.cpp
Commit d28550bcaa251870f0caf7dc1e6c122d30d51d6e by wuyanjun110 featL调整西联停车位约束
	data/ssep/forward_ec.cpp
Commit fb9f327b8cf671af4ab785417259a490d108bd25 by wuyanjun110 feat:wbca 求解失败后， 不replan
	algorithm/wbca/wbca_manager.cpp
Commit 48f09a113740724143abbe5adcee7c9d2f7805bf by wuyanjun110 feat:调整搜索起始点
	data/config/cfg_region.hpp
	data/ssep/normal_junction_ec.cpp
	data/ssep/out_yard_junction_ec.cpp
	data/ssep/field_junction_ec.cpp
	data/ssep/into_yard_junction_ec.hpp
	data/ssep/bridge_junction_ec.cpp
	data/ssep/field_junction_ec.hpp
	data/config/cfg_region.cpp
	data/ssep/into_yard_junction_ec.cpp
Commit 4a658cf4c31dd3e100cb67f150e405bfd3e35d6d by wuyanjun110 refactor:变道场景切换的bug
	scenarios/lane_change_scenario/lane_change_stage.cpp
	data/plan/switch_data.cpp
Commit 11d1fd9ffacc17605f8e29f6312b13b37a6a6c26 by wuyanjun110 fix:边界构建的bug
	data/boundary/road_boundary.cpp
Commit 12a8dfd857cb8f894ee74b1752701b7d5202ac31 by wuyanjun110 feat:进出堆场的弯道禁停添加参数
	data/config/cfg_func_sw.cpp
	data/constrain/disable_stop_range.cpp
	data/config/cfg_func_sw.hpp
Commit 5238fec8bd1ba4e8cf6dc704d84990dc52fc083d by wuyanjun110 feat:出堆场口的跟车距离单独参数化
	data/config/cfg_long_plan.cpp
	data/config/cfg_long_plan.hpp
Commit c8fb6fd9e6f1b6014aea5d9682357e73aee48791 by wuyanjun110 fix:修复park adjust  不切换 park lock的bug
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cpp
Commit d96deb2e91de80104e3361d8cb7fc8a767be05ed by wuyanjun110 fix:参考线拼接的bug
	tasks/other_tasks/stitch_path_to_reference_line.cpp
	tasks/other_tasks/stitch_path_to_reference_line.hpp
	data/common/path.cpp
	data/common/path.hpp
Commit 9c6afa4fda19846409b544c0a272683ab3550ffd by wuyanjun110 fix:出堆场口 随后动态搜索， ssep结果缓存的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 8aa03175ba913dd73d3071388e74b72336eaad04 by wuyanjun110 refactor:优化一次规划的显示
	hmi/draw/draw_map.cpp
Commit a3b814a284b6dda4a7bf42f244c28fd468b72455 by wuyanjun110 fix:修复open space 提前搜索的问题。
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 40f41c128b30dedbc4204b35bfba720f39711560 by wuyanjun110 fix:修复bulk out识别的bug
	data/other/flow_control.cpp
Commit 380f8c156377f16f3daf74f6826a64815d083425 by wuyanjun110 feat:wbca 求解失败后， 不replan
	algorithm/wbca/wbca_manager.cpp
Commit 0a52116070e5c2e7042de144ff7910d021f69c4b by wuyanjun110 refactor:变道场景切换的bug
	data/plan/switch_data.cpp
	scenarios/lane_change_scenario/lane_change_stage.cpp
Commit 2dee8f63a20ad1198ab6e538e791aad4e55d5e4d by wuyanjun110 fix:边界构建的bug
	data/boundary/road_boundary.cpp
Commit 0345f9e6a43dd4c555aa7a2d76fbba4310632ddf by wuyanjun110 feat:添加进堆场口通道的显示
	hmi/draw/draw_map.cpp
Commit 2182f98e14346cc4429d4d9808f691687478ff3d by wuyanjun110 feat:调整边界封锁逆行车辆左边的通道
	data/boundary/driving_corridor.cpp
Commit 5be312902e8377e52e56a0ec07ddb713ecb851c5 by wuyanjun110 feat:更新西联停车位的约束
	data/config/cfg_ssep.cpp
Commit f3e7703f313e1158c38a030dcfc56f15f04be48f by wuyanjun110 feat:修复出堆场口 提前进入动态搜索的bug
	data/scenario/scenario_region_condition.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 386e5bfda11574b0df34c2e83d268d22893e7ed0 by wuyanjun110 feat:反向进T场，搜索失败
	data/ssep/into_yard_junction_ec.cpp
Commit ee475975e089e3a2a4a544d13cc5ef9c35bac37d by wuyanjun110 fix:pjpo标志位赋值的bug
	scenarios/scenario.cpp
Commit dd50c27207229ab8cc960b74007960b1080170ca by wuyanjun110 feat:出堆场口 约束调整
	data/ssep/out_yard_junction_ec.cpp
Commit fb6e895185f1cf84a43d94ae45d03e15a79902f4 by wuyanjun110 Revert "feat:添加变道状态机状态" This reverts commit 4e69c4ef695ddf42f5bdffef5cfdac72c72d0326.
	sink/ros_sink_ads_hfsm_state.cpp
Commit 3e483224ec848dfc40cc51b8fccf47d1f3716d3d by 5081703.cr fix: road_boundary bug.
	data/boundary/road_boundary.cpp
Commit 97eaecc0e56a752a738d30c4023d4d6d1ac2097b by wuyanjun110 feat:opensapace 搜索晚的问题
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/scenario/scenario_region_condition.cpp
Commit afe68a2c0127e6edd993c80a9b5cb23cfa016a85 by wuyanjun110 fix:修复可能的崩溃bug
	scripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
	CMakeLists.txt
Commit 4c1a5592cd88c37777963c206603284b25490921 by wuyanjun110 feat:open space 区域 赋值 no straight
	plan/prepare/prepare_status.cpp
Commit 8fc52013c62f6461dc1e7755fecb1e73fcc42314 by wuyanjun110 feat:opensapace 搜索晚的问题
	data/scenario/scenario_region_condition.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 0c78163fd512e171a640a91ff39318859ff7b5db by wuyanjun110 fix:调整限速的问题
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 4ed53d591f7c11033459b4c99c49eebd7190ade9 by wuyanjun110 feat:西连停车位，添加约束
	data/config/cfg_ssep.cpp
Commit 785ee4e38cd79b1e21b8f84505b9281ea81d3809 by wuyanjun110 Revert "fix:修复可能的崩溃bug" This reverts commit afe68a2c0127e6edd993c80a9b5cb23cfa016a85.
	CMakeLists.txt
	scripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
Commit f9f8b0947774848b1cea4ab1e02f9e7f019f6dea by 5081703.cr fix: imv smooth mode bug.
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 85035b7f29d3e5aac69cc0d83213e2ec88bc6238 by 5081703.cr fix: imv smooth mode bug.
	algorithm/wbca/imv_wbca_manager.cpp
	data/boundary/road_boundary.cpp
Commit c7f282df45eed8505a373be0fbb0ee66e8cae3b6 by 5081703.cr fix: steering check for truck.
	data/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit b03b260ac578fa3b2a7509623728bdbbe6927c5a by 5081703.cr fix: imv start_pt.heading in smooth mode.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/wbca/wbca_data.hpp
	data/plan/start_point_data.cpp
Commit 75fe4e3092cb4fff30085b0847052607568ba0d3 by 5081703.cr fix: crash issue.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit ee960ad26d50e1a03fdfb35d047274434e129d9a by 5081703.cr fix: imv crab mode for large curvature path.
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
	algorithm/wbca/imv_wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_helper.cpp
	algorithm/wbca/wbca_manager.cpp
Commit f58578c9c13f31ce1b0ae7427ed9745e08ca1c8b by 5081703.cr fix: imv heading bug.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/imv_wbca_manager.cpp
Commit 61ff4f83a0fce63a1938c00788f0c7a616b46704 by wuyanjun110 feat:block data的调整
	data/constrain/disable_stop_range.cpp
	data/obstacle/block.cpp
	data/constrain/block_data.cpp
	data/constrain/block_data.hpp
	data/constrain/disable_stop_range.hpp
	data/obstacle/block.hpp
Commit ef11224d3c2edb92fdaa148e9a113382a42a4c6d by wuyanjun110 fix:修改入口禁停的bug
	data/constrain/disable_stop_range.hpp
	hmi/widget/distance.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/constrain/temporary_stop_data.cpp
	data/constrain/block_data.cpp
	data/obstacle/block.cpp
Commit d27ac6906ba504f7a365296738488a2642108443 by wuyanjun110 fix:修复崩溃的bug
	tasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 03b373897f3c266b5875d393ece6d5329ce1251f by wuyanjun110 fix:修复崩溃的bug
	tasks/other_tasks/stitch_path_to_reference_line.cpp
Commit b0118cb0c389ffdd3d5f7f4f52e503af1a4b8206 by wuyanjun110 fix:删除调试代码
	data/obstacle/block.cpp
Commit 44b48ec45f6146091b92b14c0a7d8bb8c07aadd3 by 5081703.cr fix: wbca path end pt in straight line.
	algorithm/wbca/wbca_helper.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/wbca_helper.hpp
Commit fb82c4e1aa6235672a5f640f74dbbc243ced9fd0 by wuyanjun110 fix:调整出堆场起点约束添加的条件
	data/ssep/out_yard_junction_ec.cpp
Commit 7c25a6fdbd4ae92481bb497bd4ad5416975fe9e0 by wuyanjun110 fix:修复ssep trailer base to tractor base 载入失败的bug
	data/config/cfg_ssep.cpp
Commit a7b3ac069f67bbabe9d57f301b1f49859d8f105e by wuyanjun110 feat:调整进堆场口的边界
	data/ssep/into_yard_junction_ec.cpp
Commit 0a45849bef8338eb102b023497a57423450bb565 by wuyanjun110 fix: wbca boundary bug.
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 50229372490ade519d9ed81bd42e734812c64432 by wuyanjun110 fix:修复出但车道堆场搜索失败的问题
	data/ssep/out_yard_junction_ec.cpp
Commit e4525332c6aefa0305c62e08a81cfb2a115d1603 by 5081703.cr fix: plan from cur_pt when ssep search succeed.
	data/plan/start_point_data.cpp
Commit 755833bd19eb819a21bf56b17db1f2ea592d11c4 by 5081703.cr fix: wbca boundary bug.
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 39b38cc807d3c8029595aca94a65dfb22676a1f4 by wuyanjun110 feat:添加park 忽略安全的参数
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
	data/other/flow_control.cpp
Commit 3bb6194d61b7fc67c15456cf340cde364a3026ea by wuyanjun110 fix: plan from cur_pt when ssep search succeed.
	data/plan/start_point_data.cpp
Commit 2a82b175edd18d1fb5cfb4aef9df72a7a9bd8bd3 by 5081703.cr fix: crash issue.
	data/plan/start_point_data.cpp
Commit 4dbb7629f37bcc9071c0bf2e4a5e7d603aba6daa by 5081703.cr fix: esdf_map=nullptr
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/wbca_manager.hpp
	algorithm/wbca/wbca_manager.cpp
Commit 0508851aaf1938e3341edb44d900c1a01148b4eb by 5081703.cr fix: lon_decision, using prediction for v > 8km/h
	data/semantic/semantic_description.cpp
Commit 7a4667e08882ad1ed07ba86c36bba6fe53c5a636 by 5081703.cr fix: lon_decision, using prediction for v > 8km/h
	data/semantic/semantic_description.cpp
Commit 25c4bedef2a588a5e7092062c438773082f8f477 by wuyanjun110 fix:修复杨浦出堆场口 搜索失败的bug
	data/ssep/out_yard_junction_ec.cpp
	data/ssep/out_yard_junction_ec.hpp
Commit f0de6d8f0581d81e95258947247d139519731ac6 by wuyanjun110 fix:下码头面 提前搜索
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 3dae95b0df6845666c4709f00eeef5556f4b2d57 by wuyanjun110 chore: ignore
	.gitignore
Commit 8d158ef5bb8f59c878adc6654486943d850be81c by wuyanjun110 fix:变道过程中，t目标车道获取的bug
	data/plan/switch_data.cpp
Commit 3e921208cbfa659717d3284b155c8e8adcd93ade by 5081703.cr fix: lon_decision optimization.
	algorithm/decision/semantic_set_transformation_2.hpp
	algorithm/decision/simulator/forward_simulation.cpp
	algorithm/decision/semantic_set_transformation_2.cpp
	algorithm/decision/simulator/forward_simulation.hpp
	data/semantic/semantic.cpp
Commit d2fcc7874b1f1f44404bddb92b18821f3fba9add by wuyanjun110 fix:修复动态搜索引导线拼接的bug
	data/plan/guide_line.cpp
Commit 8d5e7af900401d5cce1a488cefaa4025cdf98c69 by 5081703.cr fix: using guide_line in truck wbca smooth mode
	algorithm/wbca/path_optimization/path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/imv_wbca_manager.cpp
	data/boundary/road_boundary.cpp
Commit d3d5b3bdb20a4040d1a86cda5b479e3460583d5a by 5081703.cr fix: disable crab mode for ssep_path.
	tasks/plan/path_optimization_task.cpp
Commit dd78018db6eebfe2d25a7fa3ab812125fd20a6ca by 5081703.cr fix: max_obstacle_vel_for_ignoring_obstacle_pred
	data/semantic/semantic_description.cpp
	data/config/cfg_decision.cpp
	data/config/cfg_decision.hpp
Commit c2d76a7e8242f8f5834fb26d09819ed9c2d60ab2 by 5081703.cr fix: echo stop position.
	data/app/fsm/motion_fsm/motion_fsm.cpp
	data/app/fsm/motion_fsm/motion_fsm.hpp
Commit 89170b53d2e04ca218b9f98aa13ef5b941911d30 by wuyanjun110 refator:优化ssep路径的缓存
	data/plan/ssep_data.cpp
	tasks/plan/ssep_task.cpp
	data/ssep/ex_lane_change_ec.cpp
	tasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 97f6751c5982e4d8877c0f0ec2e3303dd96c5453 by wuyanjun110 fix:停车位停不正的问题
	data/plan/switch_data.cpp
	data/config/cfg_env_const.cpp
Commit 6cc8cc6b979f08c639b26911a97d3f3f7f034386 by 5081703.cr fix: add decision_period = 12
	node/logic.cpp
	data/config/cfg_decision.hpp
	data/config/cfg_decision.cpp
Commit 4f695c8ef8252faedd10c01e010a3599dd95e0d7 by 5081703.cr fix: crash issue.
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 34560a8cb504f4152be512b280b0645181e33195 by 5081703.cr fix: start_pt kappa cal error.
	data/plan/start_point_data.cpp
Commit 6101aac5a351903339607c80b84ddc29860d5e50 by 5081703.cr fix: ignore expired wbca_data_
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/occupancy_grid_map/data_render.cpp
Commit f0b8fa29eab592ae24d65a5505910decb9b27ca5 by 5081703.cr fix: road_bd problem.
	data/boundary/road_boundary.cpp
Commit 9d3521ef64cc690d277ee290968de7800a61c3be by 5081703.cr fix: static truck.
	data/semantic/vehicle.cpp
	algorithm/decision/semantic_set_transformation_2.cpp
Commit 3cfe3e11deee76af41e6795a991210f38d22785c by wuyanjun110 feat:调整苏溪岸桥搜索
	data/ssep/seaside_junction_ec.cpp
	data/scenario/scenario_planner_action.cpp
Commit b7b7722f7af83517657fa1b90c3172328ae10e14 by 5081703.cr fix: using trailer_path_ego in lon_decision.
	algorithm/decision/semantic_set_transformation_2.cpp
Commit b2766a8de43f94cc5921232c9c9f20f2f3ee1e6a by 5081703.cr fix: extract lon_decision rlt.
	hmi/replayer_hmi.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	replayer/logic.cpp
Commit 03f43cf5c698f0490c55572ab2c3d1ce8d4da7f6 by wuyanjun110 feat:进充电桩搜索失败的bug
	data/config/cfg_ssep.cpp
Commit 7e9fcc071ff94bbed9c93fee9917f65b9436bc6b by wuyanjun110 chore(version):3.6.1
	package.xml
Commit fe81e7b9dfa2864a26e169ffeb7d3bc25cabcf37 by wuyanjun110 fix:修复参考拼接的bug
	tasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 592beab0ae654134a98029b109610afcbedb294b by wuyanjun110 feat:删除打印日志
	tasks/other_tasks/stitch_path_to_reference_line.cpp