Changes

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. chore(version):4.0.0 (details)
7. feat:调整默认参数 (details)
8. feat:调整变道安全的校验 (details)
9. fix:修复框内限速问题 (details)
10. fix:修复可能崩溃的bug (details)
11. fix:修复可能崩溃的bug (details)
12. feat:没有横向优化器的时候，直接进行路径拼接 (details)
13. fix: max_start_s_to_crane = 30 (details)
14. feat:调整进出堆场口的约束 (details)
15. feat:调整可形式区域的生成 (details)
16. feat:调整进出堆场口的约束 (details)
17. feat:调整可形式区域的生成 (details)
18. feat:调整s turn 出堆场的约束 (details)
19. Revert "fix: imv search assign end state" (details)
20. fix:修复引导线s匹配带来的问题 (details)
21. feat:添加变道状态机状态 (details)
22. fix: no shift around stacker_crane. (details)
23. fix:修复junction start s 和 end s 计算的bug (details)
24. fix:修复junction start s 和 end s 计算的bug (details)
25. feat:预瞄时间调整成2.0s (details)
26. feat:调整road边界的生成 (details)
27. feat:预瞄时间调整成2.0s (details)
28. feat:调整road边界的生成 (details)
29. featL调整西联停车位约束 (details)
30. featL调整西联停车位约束 (details)
31. feat:wbca 求解失败后， 不replan (details)
32. feat:调整搜索起始点 (details)
33. refactor:变道场景切换的bug (details)
34. fix:边界构建的bug (details)
35. feat:进出堆场的弯道禁停添加参数 (details)
36. feat:出堆场口的跟车距离单独参数化 (details)
37. fix:修复park adjust  不切换 park lock的bug (details)
38. fix:参考线拼接的bug (details)
39. fix:出堆场口 随后动态搜索， ssep结果缓存的bug (details)
40. refactor:优化一次规划的显示 (details)
41. fix:修复open space 提前搜索的问题。 (details)
42. fix:修复bulk out识别的bug (details)
43. feat:wbca 求解失败后， 不replan (details)
44. refactor:变道场景切换的bug (details)
45. fix:边界构建的bug (details)
46. feat:添加进堆场口通道的显示 (details)
47. feat:调整边界封锁逆行车辆左边的通道 (details)
48. feat:更新西联停车位的约束 (details)
49. feat:修复出堆场口 提前进入动态搜索的bug (details)
50. feat:反向进T场，搜索失败 (details)
51. fix:pjpo标志位赋值的bug (details)
52. feat:出堆场口 约束调整 (details)
53. Revert "feat:添加变道状态机状态" (details)
54. fix: road_boundary bug. (details)
55. feat:opensapace 搜索晚的问题 (details)
56. fix:修复可能的崩溃bug (details)
57. feat:open space 区域 赋值 no straight (details)
58. feat:opensapace 搜索晚的问题 (details)
59. fix:调整限速的问题 (details)
60. feat:西连停车位，添加约束 (details)
61. Revert "fix:修复可能的崩溃bug" (details)
62. fix: imv smooth mode bug. (details)
63. fix: imv smooth mode bug. (details)
64. fix: steering check for truck. (details)
65. fix: imv start_pt.heading in smooth mode. (details)
66. fix: crash issue. (details)
67. fix: imv crab mode for large curvature path. (details)
68. fix: imv heading bug. (details)
69. fix:修复快照崩溃的bug (details)
70. fix:修复合并的bug (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_long_plan.hpp
	data/constrain/block_data.hpp
	data/config/cfg_safe_const.cpp
	data/constrain/block_data.cpp
	data/config/cfg_func_sw.cpp
	data/plan/center_line_info.hpp
	data/config/cfg_safe_const.hpp
	data/config/cfg_long_plan.cpp
Commit ff905a7ac4b6ed29bc909ba1027c9304bd574cc7 by wuyanjun110 chore(version):4.0.0
	package.xml
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 93115d41a05fa9b76a4e4e922764638a51582166 by wuyanjun110 fix:修复框内限速问题
	data/config/cfg_long_plan.cpp
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
	data/constrain/longitude_constrain.cpp
Commit 7393bbfd8ab7735206ae2349c2b8a0e2ed671e72 by wuyanjun110 fix:修复可能崩溃的bug
	data/common/path.cpp
Commit 6d23c117eedfd13cf26410f9f5a75b8dd2a5e24e by wuyanjun110 fix:修复可能崩溃的bug
	math/curve1d/quartic_polynomial_curve1d.cpp
	math/curve1d/quartic_polynomial_curve1d_rt.cpp
	math/curve1d/quintic_polynomial_curve1d_rt.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_interface.hpp
	scenarios/scenario.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	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/into_yard_junction_ec.cpp
	data/ssep/out_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
	tasks/other_tasks/create_road_boundary.cpp
	data/config/cfg_func_sw.hpp
	data/boundary/road_boundary.hpp
	data/config/cfg_func_sw.cpp
	replayer/replayer_data_process/replayer_data_process.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/ssep/normal_junction_ec.cpp
	data/ssep/field_junction_ec.cpp
	data/ssep/field_junction_ec.hpp
	data/config/cfg_region.cpp
	data/config/cfg_region.hpp
	data/ssep/into_yard_junction_ec.hpp
	data/ssep/bridge_junction_ec.cpp
	data/ssep/out_yard_junction_ec.cpp
	data/ssep/into_yard_junction_ec.cpp
Commit 4a658cf4c31dd3e100cb67f150e405bfd3e35d6d 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 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/config/cfg_func_sw.hpp
	data/constrain/disable_stop_range.cpp
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
	data/common/path.hpp
	data/common/path.cpp
	tasks/other_tasks/stitch_path_to_reference_line.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/map/pnc_map/routing_extension/routing_data.cpp
	data/scenario/scenario_region_condition.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/scenario/scenario_region_condition.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit afe68a2c0127e6edd993c80a9b5cb23cfa016a85 by wuyanjun110 fix:修复可能的崩溃bug
	CMakeLists.txt
	scripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
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.
	scripts/ssep_tool/__pycache__/ssep.cpython-38.pyc
	CMakeLists.txt
Commit f9f8b0947774848b1cea4ab1e02f9e7f019f6dea by 5081703.cr fix: imv smooth mode bug.
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/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.
	data/wbca/wbca_data.hpp
	data/plan/start_point_data.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.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/imv_wbca_manager.cpp
	algorithm/wbca/wbca_manager.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
	algorithm/wbca/wbca_helper.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 45460a1b3fa9a64b82ae63f2f5002706eb5a580d by wuyanjun110 fix:修复快照崩溃的bug
	replayer/replayer_data_process/replayer_data_process.cpp
Commit 3246de604c4e2627d90891776fe427be8a228b5c by wuyanjun110 fix:修复合并的bug
	tasks/other_tasks/create_trailer_road_boundary.cpp