Changes

#1055 (Aug 25, 2025 10:28:39 PM)

1. chore: 改进进出堆场搜索与掉头搜索 — tangwenqing / detail
2. fix: 修复前港终点在反向车道时会crash的问题 — tangwenqing / detail
3. feat:扩多个lane的region，只获取一段的bug — wuyanjun110 / detail

#1054 (Aug 25, 2025 9:37:54 PM)

1. fix: start_pt kappa cal error. — 5081703.cr / detail
2. fix: ignore expired wbca_data_ — 5081703.cr / detail
3. fix: road_bd problem. — 5081703.cr / detail
4. fix: static truck. — 5081703.cr / detail
5. feat:调整苏溪岸桥搜索 — wuyanjun110 / detail
6. fix: using trailer_path_ego in lon_decision. — 5081703.cr / detail
7. fix: extract lon_decision rlt. — 5081703.cr / detail
8. feat:进充电桩搜索失败的bug — wuyanjun110 / detail
9. fix:修复参考拼接的bug — wuyanjun110 / detail
10. feat:删除打印日志 — wuyanjun110 / detail
11. fix: 修复前港终点在反向车道时会crash的问题 — tangwenqing / detail

#1053 (Aug 25, 2025 8:45:36 PM)

1. feat_out:添加满都拉专用通信结构 — zhaojianfeng2 / detail
2. feat_out:字段修改 — zhaojianfeng2 / detail
3. feat_out:增加编队状态消息 — zhaojianfeng2 / detail
4. feat_out:按照上智联新协议修改 — zhaojianfeng2 / detail
5. fix_out: traffic msg — hongjinjin / detail
6. feat_out:回退rc_dev的合并 — zhaojianfeng2 / detail
7. fix_out: add traffic msg — hongjinjin / detail
8. feat:平行驾驶消息添加新字段 — wuyanjun110 / detail
9. Publish og line segments — tangwenqing / detail
10. feat_out:故障码增加关联task_id — zhaojianfeng2 / detail
11. feat_out:溯源消息增加task_id — zhaojianfeng2 / detail
12. feat:添加货物宽度的标志位 — wuyanjun110 / detail
13. feat:添加货物重量 — wuyanjun110 / detail
14. feat_out:编队定位消息增加字段 — zhaojianfeng2 / detail
15. feat_out: TosTask中block_crane_id类型由uint8变更为string — guolindong / detail
16. feat:添加cargo type 标志位 — wuyanjun110 / detail
17. chore: 重新定义Og line segment msg — tangwenqing / detail
18. feat:添加变道状态机 — wuyanjun110 / detail
19. 感知堆场obj输出消息增加heading,id,配对id和速度字段. — tangxiao / detail
20. feat:变量类型的bug — wuyanjun110 / detail
21. feat:添加pnc 状态的接口 — wuyanjun110 / detail
22. feat:添加忽略身后og点的标志位 — wuyanjun110 / detail
23. feat:添加忽略身后og点的标志位 — wuyanjun110 / detail

#1053 (Aug 25, 2025 8:45:36 PM)

1. fix:修复崩溃的bug — wuyanjun110 / detail
2. feat:使用参考线拼接的时候 校验 横向误差和角度误差 — wuyanjun110 / detail
3. feat:调整约束 — wuyanjun110 / detail
4. feat:变道过程中， 考虑动态桥的预测 — wuyanjun110 / detail
5. feat:移动龙门吊防护 — wuyanjun110 / detail
6. feat:调整默认参数 — wuyanjun110 / detail
7. feat:调整变道安全的校验 — wuyanjun110 / detail
8. fix: imv search assign end state — tangwenqing / detail
9. fix: ptr_esdf_map = nullptr — 5081703.cr / detail
10. fix: update_vehicle_state. — 5081703.cr / detail
11. fix: release — 5081703.cr / detail
12. fix:修复框内限速问题 — wuyanjun110 / detail
13. fix:修复框内限速问题 — wuyanjun110 / detail
14. fix: imv smooth mode bug. — 5081703.cr / detail
15. fix:修复可能崩溃的bug — wuyanjun110 / detail
16. fix: crab_mode thr = 1.5 — 5081703.cr / detail
17. fix:修复可能崩溃的bug — wuyanjun110 / detail
18. feat:没有横向优化器的时候，直接进行路径拼接 — wuyanjun110 / detail
19. fix:修复可能崩溃的bug — wuyanjun110 / detail
20. fix:修复可能崩溃的bug — wuyanjun110 / detail
21. feat:没有横向优化器的时候，直接进行路径拼接 — wuyanjun110 / detail
22. fix: max_start_s_to_crane = 30 — 5081703.cr / detail
23. feat:调整进出堆场口的约束 — wuyanjun110 / detail
24. feat:调整可形式区域的生成 — wuyanjun110 / detail
25. feat:调整进出堆场口的约束 — wuyanjun110 / detail
26. feat:调整可形式区域的生成 — wuyanjun110 / detail
27. feat:调整s turn 出堆场的约束 — wuyanjun110 / detail
28. Revert "fix: imv search assign end state" — wuyanjun110 / detail
29. fix:修复引导线s匹配带来的问题 — wuyanjun110 / detail
30. feat:添加变道状态机状态 — wuyanjun110 / detail
31. fix: no shift around stacker_crane. — 5081703.cr / detail
32. fix:修复junction start s 和 end s 计算的bug — wuyanjun110 / detail
33. fix:修复junction start s 和 end s 计算的bug — wuyanjun110 / detail
34. feat:预瞄时间调整成2.0s — wuyanjun110 / detail
35. feat:调整road边界的生成 — wuyanjun110 / detail
36. feat:预瞄时间调整成2.0s — wuyanjun110 / detail
37. feat:调整road边界的生成 — wuyanjun110 / detail
38. featL调整西联停车位约束 — wuyanjun110 / detail
39. featL调整西联停车位约束 — wuyanjun110 / detail
40. feat:wbca 求解失败后， 不replan — wuyanjun110 / detail
41. feat:调整搜索起始点 — wuyanjun110 / detail
42. refactor:变道场景切换的bug — wuyanjun110 / detail
43. fix:边界构建的bug — wuyanjun110 / detail
44. feat:进出堆场的弯道禁停添加参数 — wuyanjun110 / detail
45. feat:出堆场口的跟车距离单独参数化 — wuyanjun110 / detail
46. fix:修复park adjust  不切换 park lock的bug — wuyanjun110 / detail
47. fix:参考线拼接的bug — wuyanjun110 / detail
48. fix:出堆场口 随后动态搜索， ssep结果缓存的bug — wuyanjun110 / detail
49. refactor:优化一次规划的显示 — wuyanjun110 / detail
50. fix:修复open space 提前搜索的问题。 — wuyanjun110 / detail
51. fix:修复bulk out识别的bug — wuyanjun110 / detail
52. feat:wbca 求解失败后， 不replan — wuyanjun110 / detail
53. refactor:变道场景切换的bug — wuyanjun110 / detail
54. fix:边界构建的bug — wuyanjun110 / detail
55. feat:添加进堆场口通道的显示 — wuyanjun110 / detail
56. feat:调整边界封锁逆行车辆左边的通道 — wuyanjun110 / detail
57. feat:更新西联停车位的约束 — wuyanjun110 / detail
58. feat:修复出堆场口 提前进入动态搜索的bug — wuyanjun110 / detail
59. feat:反向进T场，搜索失败 — wuyanjun110 / detail
60. fix:pjpo标志位赋值的bug — wuyanjun110 / detail
61. feat:出堆场口 约束调整 — wuyanjun110 / detail
62. Revert "feat:添加变道状态机状态" — wuyanjun110 / detail
63. fix: road_boundary bug. — 5081703.cr / detail
64. feat:opensapace 搜索晚的问题 — wuyanjun110 / detail
65. fix:修复可能的崩溃bug — wuyanjun110 / detail
66. feat:open space 区域 赋值 no straight — wuyanjun110 / detail
67. feat:opensapace 搜索晚的问题 — wuyanjun110 / detail
68. fix:调整限速的问题 — wuyanjun110 / detail
69. feat:西连停车位，添加约束 — wuyanjun110 / detail
70. Revert "fix:修复可能的崩溃bug" — wuyanjun110 / detail
71. fix: imv smooth mode bug. — 5081703.cr / detail
72. fix: imv smooth mode bug. — 5081703.cr / detail
73. fix: steering check for truck. — 5081703.cr / detail
74. fix: imv start_pt.heading in smooth mode. — 5081703.cr / detail
75. fix: crash issue. — 5081703.cr / detail
76. fix: imv crab mode for large curvature path. — 5081703.cr / detail
77. fix: imv heading bug. — 5081703.cr / detail
78. feat:block data的调整 — wuyanjun110 / detail
79. fix:修改入口禁停的bug — wuyanjun110 / detail
80. fix:修复崩溃的bug — wuyanjun110 / detail
81. fix:修复崩溃的bug — wuyanjun110 / detail
82. fix:删除调试代码 — wuyanjun110 / detail
83. fix: wbca path end pt in straight line. — 5081703.cr / detail
84. fix:调整出堆场起点约束添加的条件 — wuyanjun110 / detail
85. fix:修复ssep trailer base to tractor base 载入失败的bug — wuyanjun110 / detail
86. feat:调整进堆场口的边界 — wuyanjun110 / detail
87. fix: wbca boundary bug. — wuyanjun110 / detail
88. fix:修复出但车道堆场搜索失败的问题 — wuyanjun110 / detail
89. fix: plan from cur_pt when ssep search succeed. — 5081703.cr / detail
90. fix: wbca boundary bug. — 5081703.cr / detail
91. feat:添加park 忽略安全的参数 — wuyanjun110 / detail
92. fix: plan from cur_pt when ssep search succeed. — wuyanjun110 / detail
93. fix: crash issue. — 5081703.cr / detail
94. fix: esdf_map=nullptr — 5081703.cr / detail
95. fix: lon_decision, using prediction for v > 8km/h — 5081703.cr / detail
96. fix: lon_decision, using prediction for v > 8km/h — 5081703.cr / detail
97. fix:修复杨浦出堆场口 搜索失败的bug — wuyanjun110 / detail
98. fix:下码头面 提前搜索 — wuyanjun110 / detail
99. chore: ignore — wuyanjun110 / detail
100. fix:变道过程中，t目标车道获取的bug — wuyanjun110 / detail
101. fix: lon_decision optimization. — 5081703.cr / detail
102. fix:修复动态搜索引导线拼接的bug — wuyanjun110 / detail
103. fix: using guide_line in truck wbca smooth mode — 5081703.cr / detail
104. fix: disable crab mode for ssep_path. — 5081703.cr / detail
105. fix: max_obstacle_vel_for_ignoring_obstacle_pred — 5081703.cr / detail
106. fix: echo stop position. — 5081703.cr / detail
107. refator:优化ssep路径的缓存 — wuyanjun110 / detail
108. fix:停车位停不正的问题 — wuyanjun110 / detail
109. fix: add decision_period = 12 — 5081703.cr / detail
110. fix: crash issue. — 5081703.cr / detail
111. fix: start_pt kappa cal error. — 5081703.cr / detail
112. fix: ignore expired wbca_data_ — 5081703.cr / detail
113. fix: road_bd problem. — 5081703.cr / detail
114. fix: static truck. — 5081703.cr / detail
115. feat:调整苏溪岸桥搜索 — wuyanjun110 / detail
116. fix: using trailer_path_ego in lon_decision. — 5081703.cr / detail
117. fix: extract lon_decision rlt. — 5081703.cr / detail
118. feat:进充电桩搜索失败的bug — wuyanjun110 / detail
119. chore(version):3.6.1 — wuyanjun110 / detail
120. fix:修复参考拼接的bug — wuyanjun110 / detail
121. feat:删除打印日志 — wuyanjun110 / detail

#1052 (Aug 25, 2025 7:57:06 PM)

1. fix:修复参考拼接的bug — wuyanjun110 / detail
2. fix:修复参考拼接的bug — wuyanjun110 / detail
3. fix:苏溪进出堆场搜索失败的bug — wuyanjun110 / detail
4. feat:删除打印日志 — wuyanjun110 / detail
5. feat:删除打印日志 — wuyanjun110 / detail

#1051 (Aug 25, 2025 7:08:07 PM)

1. fix: static truck. — 5081703.cr / detail
2. feat:调整苏溪岸桥搜索 — wuyanjun110 / detail
3. fix: using trailer_path_ego in lon_decision. — 5081703.cr / detail
4. fix: extract lon_decision rlt. — 5081703.cr / detail
5. feat:进充电桩搜索失败的bug — wuyanjun110 / detail
6. fix:修复参考拼接的bug — wuyanjun110 / detail
7. feat:删除打印日志 — wuyanjun110 / detail

#1050 (Aug 25, 2025 5:59:49 PM)

1. Update orin32Choice.groovy — weilikang / detail
2. Update orin64Choice.groovy — weilikang / detail

#1050 (Aug 25, 2025 5:59:49 PM)

1. fix: start_pt kappa cal error. — 5081703.cr / detail
2. fix: ignore expired wbca_data_ — 5081703.cr / detail
3. fix: road_bd problem. — 5081703.cr / detail
4. feat:调整苏溪岸桥搜索 — wuyanjun110 / detail
5. feat:打开岸桥搜索终点的约束 — wuyanjun110 / detail
6. feat:指令变道后， 仍然可以进行靠近终点变道 — wuyanjun110 / detail

#1047 (Aug 22, 2025 9:43:42 PM)

1. fix: static truck. — 5081703.cr / detail
2. fix: using trailer_path_ego in lon_decision. — 5081703.cr / detail
3. fix: extract lon_decision rlt. — 5081703.cr / detail
4. feat:指令变道后， 仍然可以进行靠近终点变道 — wuyanjun110 / detail
5. fix:修复停车位方向切换的问题 — wuyanjun110 / detail
6. feat:进充电桩搜索失败的bug — wuyanjun110 / detail
7. feat:进充电桩搜索失败的bug — wuyanjun110 / detail

#1046 (Aug 22, 2025 8:38:17 PM)

1. feat:反向进T场，搜索失败 — wuyanjun110 / detail
2. fix:pjpo标志位赋值的bug — wuyanjun110 / detail
3. feat:出堆场口 约束调整 — wuyanjun110 / detail
4. Revert "feat:添加变道状态机状态" — wuyanjun110 / detail
5. fix: road_boundary bug. — 5081703.cr / detail
6. feat:opensapace 搜索晚的问题 — wuyanjun110 / detail
7. fix:修复可能的崩溃bug — wuyanjun110 / detail
8. feat:open space 区域 赋值 no straight — wuyanjun110 / detail
9. feat:opensapace 搜索晚的问题 — wuyanjun110 / detail
10. fix:调整限速的问题 — wuyanjun110 / detail
11. feat:西连停车位，添加约束 — wuyanjun110 / detail
12. Revert "fix:修复可能的崩溃bug" — wuyanjun110 / detail
13. fix: imv smooth mode bug. — 5081703.cr / detail
14. fix: imv smooth mode bug. — 5081703.cr / detail
15. fix: steering check for truck. — 5081703.cr / detail
16. fix: imv start_pt.heading in smooth mode. — 5081703.cr / detail
17. fix: crash issue. — 5081703.cr / detail
18. fix: imv crab mode for large curvature path. — 5081703.cr / detail
19. fix: imv heading bug. — 5081703.cr / detail
20. feat:block data的调整 — wuyanjun110 / detail
21. fix:修改入口禁停的bug — wuyanjun110 / detail
22. fix:修复崩溃的bug — wuyanjun110 / detail
23. fix:修复崩溃的bug — wuyanjun110 / detail
24. fix:删除调试代码 — wuyanjun110 / detail
25. fix: wbca path end pt in straight line. — 5081703.cr / detail
26. fix:调整出堆场起点约束添加的条件 — wuyanjun110 / detail
27. fix:修复ssep trailer base to tractor base 载入失败的bug — wuyanjun110 / detail
28. feat:调整进堆场口的边界 — wuyanjun110 / detail
29. fix: wbca boundary bug. — wuyanjun110 / detail
30. fix:修复出但车道堆场搜索失败的问题 — wuyanjun110 / detail
31. fix: plan from cur_pt when ssep search succeed. — 5081703.cr / detail
32. fix: wbca boundary bug. — 5081703.cr / detail
33. feat:添加park 忽略安全的参数 — wuyanjun110 / detail
34. fix: plan from cur_pt when ssep search succeed. — wuyanjun110 / detail
35. fix: crash issue. — 5081703.cr / detail
36. fix: esdf_map=nullptr — 5081703.cr / detail
37. fix: lon_decision, using prediction for v > 8km/h — 5081703.cr / detail
38. fix: lon_decision, using prediction for v > 8km/h — 5081703.cr / detail
39. fix:修复杨浦出堆场口 搜索失败的bug — wuyanjun110 / detail
40. fix:下码头面 提前搜索 — wuyanjun110 / detail
41. chore: ignore — wuyanjun110 / detail
42. fix:变道过程中，t目标车道获取的bug — wuyanjun110 / detail
43. fix: lon_decision optimization. — 5081703.cr / detail
44. fix:修复动态搜索引导线拼接的bug — wuyanjun110 / detail
45. fix: using guide_line in truck wbca smooth mode — 5081703.cr / detail
46. fix: disable crab mode for ssep_path. — 5081703.cr / detail
47. fix: max_obstacle_vel_for_ignoring_obstacle_pred — 5081703.cr / detail
48. fix: echo stop position. — 5081703.cr / detail
49. refator:优化ssep路径的缓存 — wuyanjun110 / detail
50. fix:停车位停不正的问题 — wuyanjun110 / detail
51. fix: add decision_period = 12 — 5081703.cr / detail
52. fix: crash issue. — 5081703.cr / detail
53. fix: start_pt kappa cal error. — 5081703.cr / detail
54. fix: ignore expired wbca_data_ — 5081703.cr / detail
55. fix: road_bd problem. — 5081703.cr / detail
56. fix: static truck. — 5081703.cr / detail
57. feat:调整苏溪岸桥搜索 — wuyanjun110 / detail
58. fix: using trailer_path_ego in lon_decision. — 5081703.cr / detail
59. fix: extract lon_decision rlt. — 5081703.cr / detail
60. feat:进充电桩搜索失败的bug — wuyanjun110 / detail
61. feat:添加变道状态机状态 — wuyanjun110 / detail

#1044 (Aug 22, 2025 2:49:32 PM)

1. feat:进充电桩搜索失败的bug — wuyanjun110 / detail

#1043 (Aug 22, 2025 1:24:05 PM)

1. fix: road_bd problem. — 5081703.cr / detail
2. fix: static truck. — 5081703.cr / detail
3. feat:调整苏溪岸桥搜索 — wuyanjun110 / detail
4. fix: using trailer_path_ego in lon_decision. — 5081703.cr / detail
5. fix: extract lon_decision rlt. — 5081703.cr / detail

#1041 (Aug 20, 2025 6:58:30 PM)

1. fix: crash issue. — 5081703.cr / detail
2. fix: start_pt kappa cal error. — 5081703.cr / detail
3. fix: ignore expired wbca_data_ — 5081703.cr / detail
4. fix: road_bd problem. — 5081703.cr / detail
5. fix: static truck. — 5081703.cr / detail