Changes

#1987 (Aug 11, 2026 9:45:28 PM)

1. chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 — tangwenqing / detail
2. doc: SSEP: 补充搜索模块相关的注释和文档 — tangwenqing / detail
3. fix: 修复进堆场规划器头文件引用路径 — wuyanjun110 / detail
4. fix: 调整散货出场禁横移区域判定 — wuyanjun110 / detail
5. feat: 散货进场末段切换 PJPO 规划 — wuyanjun110 / detail
6. fix: 增强 SSEP 目标路径有效性校验 — wuyanjun110 / detail
7. feat: 振石进场按参考线构造搜索起点 — wuyanjun110 / detail
8. doc: SSEP: 增加keb optimizer及离线工具的说明文档 — tangwenqing / detail
9. fix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题 — tangwenqing / detail

#1986 (Aug 11, 2026 9:14:19 PM)

1. Update push.groovy — weilikang / detail
2. Update orinBuild.groovy — weilikang / detail
3. Update orin32Choice.groovy — weilikang / detail
4. Update orin64Choice.groovy — weilikang / detail
5. Update orinModule32Choice.groovy — weilikang / detail
6. Update orinModule64Choice.groovy — weilikang / detail

#1986 (Aug 11, 2026 9:14:19 PM)

1. Update map-png.jenkinsfile — weilikang / detail
2. Update map-png.jenkinsfile — weilikang / detail
3. Update jining-liangshan-submodule.jenkinsfile — weilikang / detail

#1985 (Aug 11, 2026 12:28:27 PM)

1. feat: 散货进场末段切换 PJPO 规划 — wuyanjun110 / detail
2. fix: 增强 SSEP 目标路径有效性校验 — wuyanjun110 / detail
3. feat: 振石进场按参考线构造搜索起点 — wuyanjun110 / detail

#1984 (Aug 11, 2026 12:57:34 AM)

1. feat_out:增加反馈pd类型 — zhaojianfeng2 / detail
2. feat_out:反馈字段完善 — zhaojianfeng2 / detail
3. feat_out:字段修改 — zhaojianfeng2 / detail

#1984 (Aug 11, 2026 12:57:34 AM)

1. chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 — tangwenqing / detail
2. fix: use history path for IMV direct link — chenran / detail
3. fix: Keb: 修复堆场转场时避障距离过大的问题 — tangwenqing / detail
4. feat: 右转停车后自动起步 — wuyanjun110 / detail
5. fix: speed down unexpectly in wbca smooth mode. — chenran / detail
6. fix: Keb: 修复出堆场时挂车距离障碍物太近的问题 — tangwenqing / detail
7. feat: SSEP: 前港清除access line附近的地图障碍物 — tangwenqing / detail
8. fix: 修复普通场景缓冲区数据失效问题 — wuyanjun110 / detail
9. fix: SSEP: 前港口清除access line附近的地图障碍物2 — tangwenqing / detail
10. feat: SSEP: IMV多段路径规划，在优化时增加“方向切换参考点” — tangwenqing / detail
11. doc: SSEP: 补充搜索模块相关的注释和文档 — tangwenqing / detail
12. fix: 修复进堆场规划器头文件引用路径 — wuyanjun110 / detail
13. fix: 调整散货出场禁横移区域判定 — wuyanjun110 / detail

#1983 (Aug 10, 2026 11:39:16 PM)

1. 添加载物状态及其枚举值&&车型错误标志 — liuwenjing / detail
2. feat: 手动rebase交通管制v2 msg变更 — 5081703.cr / detail
3. 添加车型匹配bool字段 — liuwenjing / detail
4. feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 — zhaojianfeng2 / detail
5. feat_out:外设命令扩充(需重编外设及rmi) — zhaojianfeng2 / detail
6. feat_out:增加全量上传topic — zhaojianfeng2 / detail
7. feat_out:增加消息定义 — zhaojianfeng2 / detail
8. feat_out:修改东方特钢上装控制枚举 — zhaojianfeng2 / detail
9. feat_out:修改东方特钢上装控制枚举 — zhaojianfeng2 / detail
10. feat_out:合并外设消息 — zhaojianfeng2 / detail
11. feat_out:增加反馈pd类型 — zhaojianfeng2 / detail
12. feat_out:反馈字段完善 — zhaojianfeng2 / detail
13. feat_out:增加反馈pd类型 — zhaojianfeng2 / detail
14. feat_out:反馈字段完善 — zhaojianfeng2 / detail

#1983 (Aug 10, 2026 11:39:16 PM)

1. fix: Keb: 修复堆场转场时避障距离过大的问题 — tangwenqing / detail
2. fix: speed down unexpectly in wbca smooth mode. — chenran / detail
3. fix: Keb: 修复出堆场时挂车距离障碍物太近的问题 — tangwenqing / detail
4. feat: SSEP: 前港清除access line附近的地图障碍物 — tangwenqing / detail
5. fix: 修复普通场景缓冲区数据失效问题 — wuyanjun110 / detail
6. fix: 修正双头 IMV 直线步进方向 — wuyanjun110 / detail
7. fix: SSEP: 前港口清除access line附近的地图障碍物2 — tangwenqing / detail
8. feat: SSEP: IMV多段路径规划，在优化时增加“方向切换参考点” — tangwenqing / detail

#1982 (Aug 10, 2026 8:49:40 PM)

1. Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail
2. Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail
3. Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail

#1982 (Aug 10, 2026 8:49:40 PM)

1. fix: publish whole cloud trajectory for open_space — chenran / detail
2. fix: preserve turn-in-place across stop recovery — chenran / detail
3. fix: update both points rotation conditions. — chenran / detail
4. fix standby map envelope matching during travel out — chenran / detail

#1981 (Aug 10, 2026 12:52:04 PM)

1. fix: Keb: 修复IMV重规划时起点曲率异常的问题 — tangwenqing / detail
2. feat: 支持短直道路口连续搜索 — wuyanjun110 / detail
3. feat:引桥短路口搜索的参数设置为true — wuyanjun110 / detail

#1980 (Aug 7, 2026 11:08:58 AM)

1. feat_out:反馈字段完善 — zhaojianfeng2 / detail

#1980 (Aug 7, 2026 11:08:58 AM)

1. chore: 注释掉WHBULK的终点约束 — wuyanjun110 / detail

#1979 (Aug 6, 2026 11:26:03 AM)

1. tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 — wuyanjun110 / detail
2. tos_msgs: AccessLine 字段 yard_id 重命名为 yard — wuyanjun110 / detail

#1979 (Aug 6, 2026 11:26:03 AM)

1. feat: 增加堆高机侧向吊具高度防护 — wuyanjun110 / detail
2. feat: 显示障碍物朝向与速度方向 — wuyanjun110 / detail
3. feat: 补充 SL 边界语义访问器 — wuyanjun110 / detail
4. fix: recover lattice planner from stop fallback loop — chenran / detail
5. fix: 延迟普通出堆场区域切换 — wuyanjun110 / detail
6. fix: 稳定任务切换期间区域状态 — wuyanjun110 / detail
7. fix: 修正录包触发模块标识 — wuyanjun110 / detail
8. fix: plan from history in low speed — chenran / detail
9. fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换 — wuyanjun110 / detail
10. feat: 支持真石 IMV 按途经点多段停车 — wuyanjun110 / detail
11. feat: 支持右转路口前停车 — wuyanjun110 / detail
12. fix: use history path for IMV direct link — chenran / detail
13. fix: use history path for IMV direct link — chenran / detail
14. fix: 修复缓刹遇障碍后无法进入停止态 — wuyanjun110 / detail
15. feat: 右转停车后自动起步 — wuyanjun110 / detail

#1978 (Aug 6, 2026 10:46:58 AM)

1. fix(pnc): keep turn-in-place active while rotating — chenran / detail

#1977 (Aug 5, 2026 9:07:52 PM)

1. fix: 修复缓刹遇障碍后无法进入停止态 — wuyanjun110 / detail

#1976 (Aug 5, 2026 4:27:15 PM)

1. feat_out:增加反馈pd类型 — zhaojianfeng2 / detail

#1976 (Aug 5, 2026 4:27:15 PM)

1. fix: stabilize STEP_ALIGN trajectory — chenran / detail

#1975 (Aug 5, 2026 2:38:12 PM)

1. fix: lateral error calculation — chenran / detail
2. fix: add end recording conditions — chenran / detail
3. fix: preserve SC turn-in-place cloud boxes — chenran / detail
4. feat: add SC accuracy data downloader — chenran / detail
5. fix: align SC rotation command with published path — chenran / detail
6. fix: add 112 ogm point type — chenran / detail

#1974 (Aug 5, 2026 2:07:34 PM)

1. feat: 支持右转路口前停车 — wuyanjun110 / detail