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Changes

Summary

  1. feat:适配dead lock force park (details)
  2. feat:进堆场弯道禁停继续发送云端轨迹 (details)
  3. feat:完善变道触发的条件 (details)
  4. fix:变道场景切换的bug (details)
  5. feat:整理云端轨迹的数据结构 (details)
  6. fix:云端轨迹挂转角赋值错误的bug (details)
  7. feat:暂时关闭路口延长的逻辑 (details)
  8. feat:暂时关闭路口延长的逻辑 (details)
  9. feat:功能基本ok (details)
  10. feat:完善云端轨迹v2 (details)
  11. fix:修复代码合并的bug (details)
  12. feat:1.定位无效的时候发送-12.分割号的赋值3.变道车道laneid的赋值 (details)
  13. fix:云端轨迹 is stop没有赋值的bug (details)
  14. fix:修复默认参数 (details)
  15. feat:进堆场云端轨迹正常发送 (details)
  16. fix: SSEP: 修复优化器中起点曲率没有初始化的问题 (details)
  17. refeat:优化云端路径的赋值 (details)
  18. feat:添加忽略死锁标志位的反馈 (details)
  19. feat:merge (details)
  20. feat:修改云端轨迹heading和theta的赋值 (details)
  21. fix:修复编译崩溃的bug (details)
  22. fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑 (details)
  23. fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误 (details)
  24. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
  25. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
  26. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  27. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
  28. feat:调整指令的类别 (details)
  29. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
  30. chore: keb task 增加最大转向角余量 (details)
  31. feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 (details)
  32. feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑 (details)
  33. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
  34. feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度 (details)
  35. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  36. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  37. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
  38. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
  39. fix:修复变道的约束 (details)
  40. refactor:朝海侧，右转横二路，边界优化 (details)
  41. refactor:极限变道约束优化 (details)
  42. feat: 添加地图限速膨胀系数并更新速度限制计算 (details)
  43. fix:极限变道不replan的bug (details)
  44. fix: wbca smooth path is exception in align state (details)
  45. fix: straight lane near crane and lock_station (details)
  46. fix: sweep exception (details)
  47. fix: wbca path length = 40 in openspace (details)
  48. fix:进堆场触发直连模式的bug (details)
  49. fix:上码头面前， 误入 进堆场场景的bug (details)
  50. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
  51. chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。 (details)
  52. fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。 (details)
  53. chore: snapshot to keb scene 增加批量转换功能 (details)
  54. feat: 更新云轨迹相关函数以使用引导线替代参考线，并优化相对时间计算 (details)
  55. fix: 修改路径点格式化中的分隔符，从 '&' 改为 '#' (details)
  56. feat: 增加对堆场直接进入的判断逻辑，并优化相关功能 (details)
  57. 引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度 (details)
  58. 重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能 (details)
  59. feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值 (details)
  60. feat: 调整运动学可行性检查的最大归一化位置和朝向误差 (details)
  61. feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 (details)
  62. feat: 添加bulk in 堆场前临时停车功能 (details)
  63. fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。 (details)
  64. chore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程 (details)
  65. feat: clang18 编译优化 (details)
  66. fix:崩溃防护，guide line 有效，但speedlimits为空 (details)
  67. fix: Keb: 修复终点附近轨迹会有碰撞的问题 (details)
  68. fix: SSEP: fix crashing issue (details)
  69. chore: Keb-sim: 适配终点选取逻辑 (details)
  70. feat:动态上下码头面 直接进堆场场景的优化 (details)
  71. feat:添加云端轨迹 挂转角的赋值 (details)
  72. fix:堆场前停车，停车原因赋值错误的bug (details)
  73. fix:进堆场前停车，motion状态机错误的bug (details)
  74. fix:修复keb路径跳变的bug (details)
  75. feat:ctrl +shift  左键 可以 把车辆移动到 没有lane的位置上 (details)
  76. feat: 添加KEB可视化数据结构及相关功能 (details)
  77. feat: 更新CfgFuncSw类的序列化版本，添加新功能支持 (details)
  78. feat: 岸桥搜索添加黑名单功能 (details)
  79. chore: Keb: 优化IMV的避障效果 (details)
  80. fix: 匹配STOP_DECIDER前移 (details)
  81. feat: 添加异步处理功能以优化地图包围区域的创建 (details)
  82. fix:场景切换的bug (details)
  83. chore: SSEP: 优化集卡上下码头面路径 (details)
  84. chore: SSEP: 提升跨运车抓车搜索成功率 (details)
  85. feat:<洋浦>适配洋浦新增区域的搜索 (details)
  86. refactor:包围框合并的优化 (details)
  87. fix: add smooth_mode opt (details)
  88. feat:出堆场搜索异常的bug (details)
  89. feat:洋浦 进（普通堆场的形状）堆高机场的入口限速 (details)
  90. fix: smooth mode optimization (details)
  91. fix: 修复威海车型不匹配的问题 (details)
  92. feat: 添加车辆侵入车道限速功能及相关配置 (details)
  93. feat: 增强边界约束条件，确保在使用侵入限速功能时检查道路边界和引导线可用性 (details)
  94. refeat:重构 障碍物侵入道路后的限速 (details)
  95. feat: 添加 .codewhale 和 .deepseek 到 .gitignore (details)
  96. feat: 增加对特定区域类型的检查，避免在码头面、堆场和堆高机场 判断 场桥禁停 (details)
  97. refctor:风险限速和聚类限速时，限制最大减速度 (details)
  98. feat: 绕行时，沟点不进行膨胀 (details)
  99. fix: cancel wbca smooth_mode for the first frame (details)
  100. fix: cancel wbca smooth_mode for the first frame (details)
  101. chore: SSEP: 减小集卡多段倒车的最大曲率 (details)
  102. chore: SSEP: IMV普通搜索过滤明显存在碰撞的路径。 (details)
  103. feat: 添加功能开关以控制 吊具高度 是不是 切换状态机， 默认打开 (details)
  104. fix: Keb: 延长段路径不验证运动学可行性 (details)
  105. feat: SSEP: 将GPU搜索重写，整合进目前的CPU搜索框架中。目前的搜索框架改进为CPU-GPU混合框架，可以任意配置使用CPU/GPU搜索组件。 (details)
  106. fix:修复路径拼接的bug (details)
  107. feat: 优化判断逻辑，增加起始点方向差异判断以决定是否需要全平滑 (details)
  108. refactor:<PJPO>优化求解的成功率 (details)
  109. chore: Keb: 1. 解决IMV从当前点规划轨迹异常的问题。2. 解决IMV轨迹画龙问题 (details)
  110. fix: 修改锁定站点为狭窄空间的参数默认值为false (details)
  111. refactor: 修改GetOgmSize函数签名，增加车辆状态参数以优化OGM大小计算 (details)
  112. feat: 添加NormalizePolygonsForUnion函数以处理多边形归一化，并增加相应的单元测试 (details)
  113. fix: 修改杨浦区域半径值为2000以配置扩大的堆场 (details)
  114. fix: 更新停止标志重叠匹配逻辑，增加对交叉口ID的检查并调整LaneSegment的合并参数 (details)
  115. fix:修复快照播放崩溃的bug (details)
  116. fix: curature over limit stop optimization (details)
  117. feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测 (details)
  118. feat: 添加CloudTrajectoryPoint的赋值运算符重载 (details)
  119. feat: 注释掉OgmCollisionPos函数中的更新检查 (details)
  120. fix: add lane_change_path_task v2 (details)
  121. fix: check out feat_keb_v2 ssep (details)
  122. fix: add ssep_forward_ec_tail_straight_distance (details)
  123. fix: ssep replan bug (details)
Commit 7cfd0f5a0a4831acb2c699e7feb04fd2c800b404 by wuyanjun110
feat:适配dead lock force park

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was addeddata/app/cmd/cmd_dead_lock_force_park.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/app/app_data.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/app/cmd/cmd_dead_lock.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.hpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedhmi/draw/draw_ssep.cpp
The file was addeddata/app/cmd/cmd_dead_lock_force_park.hpp
Commit e0d9e3a37165a0aca857ff70874c1cebf9d81af0 by wuyanjun110
feat:进堆场弯道禁停继续发送云端轨迹

The file was modifieddata/common/trajectory.cpp
Commit 642c01dec961ffc0c39a5b55156b8ad74b12b1fd by wuyanjun110
feat:完善变道触发的条件

The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit 4aa3eb182b35a15d454daf0be12a0ea27ed6db6d by wuyanjun110
fix:变道场景切换的bug

The file was modifieddata/scenario/scenario_planner_bt.cpp
Commit 15068bbc537173a7fcfbe1b0aaee62f371059d72 by wuyanjun110
feat:整理云端轨迹的数据结构

The file was modifieddata/plan_frame.cpp
The file was modifieddata/common/trajectory.cpp
The file was modifieddata/common/trajectory.hpp
The file was modifieddata/common/trajectory_point.cpp
The file was modifiedplan/scenarios/prepare_scenario.cpp
The file was modifieddata/plan_frame.hpp
The file was modifiedsink/module.cpp
The file was addeddata/plan/cloud_trajectory.cpp
The file was modifieddata/lattice/trajectory_combiner.hpp
The file was removedsink/ros_sink_trajectory_for_prediction.hpp
The file was addeddata/plan/cloud_trajectory.hpp
The file was modifieddata/common/trajectory_point.hpp
The file was modifiedhmi/draw/draw_path.cpp
The file was removedsink/ros_sink_trajectory_for_prediction.cpp
The file was modifieddata/config/cfg_topic.hpp
The file was modifieddata/lattice/trajectory_combiner.cpp
The file was modifieddata/config/cfg_topic.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit a05192db6a24b3348d74f7d50ce0d0bd6b8f7ebc by wuyanjun110
fix:云端轨迹挂转角赋值错误的bug

The file was modifieddata/lattice/trajectory_combiner.cpp
Commit 5b4878a114bd9b04f60443a02d5208c547826795 by wuyanjun110
feat:暂时关闭路口延长的逻辑

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 97808e8bad698ca80d77d28e8ee1c25b811d8abc by wuyanjun110
feat:暂时关闭路口延长的逻辑

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 51b7cd43464c5a1527bfb4fa65dd0971948c4b85 by wuyanjun110
feat:功能基本ok

The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifiedplan/scenarios/prepare_scenario.cpp
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifieddata/plan/cloud_trajectory.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
The file was modifieddata/plan_frame.cpp
Commit 6684ad1e264a2b994a7c551de3336034a5fad1f0 by wuyanjun110
feat:完善云端轨迹v2

The file was modifieddata/plan/cloud_trajectory.hpp
The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
The file was modifiedhmi/draw/draw_path.cpp
Commit 81594b7b8e3091061176005152fdb46500106197 by wuyanjun110
fix:修复代码合并的bug

The file was modifiedsink/ros_sink_cloud_trajectory.cpp
The file was modifiedsink/ros_sink_cloud_trajectory.hpp
Commit 8b0cb2a242ee6e2847bb9b3ce934a9199aeea02d by wuyanjun110
feat:1.定位无效的时候发送-12.分割号的赋值3.变道车道laneid的赋值

The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/cloud_trajectory.hpp
Commit 207061ce9e0d5520d8e3aa25e71f15ab72f5af63 by wuyanjun110
fix:云端轨迹 is stop没有赋值的bug

The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit c296c42da1532160033f738dd3ac0e10b45fa7c5 by wuyanjun110
fix:修复默认参数

The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/plan/center_line_info.cpp
Commit c90b3f396476d33e57593ea627bfe3b71617a86e by wuyanjun110
feat:进堆场云端轨迹正常发送

The file was modifieddata/plan/cloud_trajectory.cpp
Commit 14a332cffe102d32740e3b66d235c08f95b93deb by tangwenqing
fix: SSEP: 修复优化器中起点曲率没有初始化的问题

The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit c5fe56441cd4975be5cee5f679866cf8c242571e by wuyanjun110
refeat:优化云端路径的赋值

The file was modifieddata/plan/cloud_trajectory.hpp
The file was modifieddata/plan/cloud_trajectory.cpp
Commit ae2c245997ab2cd20bb588d1c5d940c97882286e by wuyanjun110
feat:添加忽略死锁标志位的反馈

The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit aab4a1bf245a53d537d67e15908e5537e6712090 by wuyanjun110
feat:merge

The file was modifiedssep/test/gpu_ref_line_cost_test.cc
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/snapshot_data.hpp
The file was modifiedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/app/cmd/cmd_cancel_lock.hpp
The file was modifiedalgorithm/plan/plot_st_graph.cpp
The file was modifieddata/app/cmd/cmd_fsm/fsm_base.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_tt.cc
The file was modifieddata/app/cmd/cmd_remote.cpp
The file was modifiedmath/smoothing/fem_pos_deviation_interface.h
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedCMakeLists.txt
The file was modifieddata/plan/reference_line_info.hpp
The file was modifieddata/app/cmd/cmd_dead_lock.hpp
The file was modifiedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was modifieddata/map/reference/reference_road_section.cpp
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/app/cmd/cmd_cancel_safe.hpp
The file was modifiedssep/data_structures/polyline.h
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/reverse_ec.cpp
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/offboard/scene_replay/CMakeLists.txt
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifieddata/app/app_data.cpp
The file was modifiedssep/scenarios/stitching_replanner.h
The file was modifieddata/common/guide_path.cpp
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedsource/ros_source_ads_target.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedhmi/node_hmi.hpp
The file was modifiedcommon/behaviour_tree/bt_composite.hpp
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was addedssep/coarse_search/evaluator/heading_cost_computer.h
The file was modifieddata/map/pnc_map/pnc_map.cpp
The file was modifieddata/ssep/ssep_common.hpp
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/vehicle/related_offset.cpp
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/coarse_search/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifieddata/other/flow_control.hpp
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifiedssep/coarse_search/evaluator/shortest_path_heur_table.h
The file was modifieddata/app/cmd/cmd_traffic_light.hpp
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedmath/curve2d/icurve.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modified.gitignore
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_car.cc
The file was modifieddata/app/cmd/cmd_align.cpp
The file was modifiedhmi/common/status_sign.hpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifiedssep/coarse_search/legacy_searchers/hybrid_a_star_imv.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifieddata/app/cmd/cmd_set_target.cpp
The file was modifieddata/app/cmd/cmd_cancel_expand.hpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/iconfig.hpp
The file was modifiedreplayer/logic.cpp
The file was modifiedssep/data_structures/map_element_polyline.cc
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/truck_u_turn_planner.h
The file was modifieddata/app/cmd/cmd_set_target.hpp
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/app/cmd/cmd_nstop.hpp
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifiedssep/scenarios/imv_enter_yard_planner.h
The file was modifieddata/plan/start_point_data.cpp
The file was modifieddata/config/cfg_error.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
The file was modifiedssep/offboard/servers/CMakeLists.txt
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedmath/curve2d/curve2d.hpp
The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedsource/ros_source_ads_command.cpp
The file was modifieddata/common/guide_path.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/truck_bulk_yark_in_out_planner.cc
The file was modifiedssep/scenarios/truck_remote_guided_escape_planner.h
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/app/cmd/cmd_fsm/ifsm.hpp
The file was modifiedssep/scenarios/truck_fuzzy_reversing_planner.h
Commit ab46030d67017aca4e24455acacfae894279573e by wuyanjun110
feat:修改云端轨迹heading和theta的赋值
The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/cloud_trajectory.hpp
Commit 3180b9168c3846ab175fc5900a26ae85dcbf1e5d by wuyanjun110
fix:修复编译崩溃的bug
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit 2a3c11f3986d0c8c71aea388f19bb0cc1ef03230 by wuyanjun110
fix: 在CreateTrajInfo函数中添加continue语句以优化逻辑
The file was modifieddata/plan/cloud_trajectory.cpp
Commit 8724ebfc9392edaa35d0827ba5f4eeea7642e316 by wuyanjun110
fix: 在InterpPtByLinearS函数中添加对s值的有效性检查，避免无效输入导致错误
The file was modifieddata/common/trajectory_point.cpp
Commit bdf1ef7712f7e5b5ed7747856466c73e81e90765 by wuyanjun110
feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/map/pnc_map/path_overlap.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/map/pnc_map/path_overlap.hpp
The file was modifieddata/constrain/disable_stop_range.cpp
Commit 823980e823db5df3c886893d6f87f528f9fb2db6 by wuyanjun110
feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.cpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.hpp
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/constrain/longitude_constrain.cpp
The file was modifieddata/app/app_data.hpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/config/cfg_long_plan.cpp
Commit de884128bc0875b3d57de275946de95f2cd8b3e0 by wuyanjun110
feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 8eafd16a9aeb91372cbbeb9b45ed48da8f9af4e3 by wuyanjun110
feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedplan/prepare/prepare_map_related.cpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
Commit 88d62ee670ee5f633ebb48441a4bd2b2404fef60 by wuyanjun110
feat:调整指令的类别

The file was modifieddata/app/fsm/task_command_type.hpp
Commit f86bed86caa62e3d5c1390726a2b301711f4f61c by wuyanjun110
fix: SSEP: 修复变道路径可能有碰撞的问题

The file was modifiedssep/scenarios/tractor_trailer_lane_change_planner.h
Commit 3e1daf4d64dbd6153996f3473694c915343be10d by wuyanjun110
chore: keb task 增加最大转向角余量

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 63ac7fb6eefe80e06ffb73c9a9a7a339bf5c63b2 by wuyanjun110
feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列
The file was modifieddata/constrain/block_data.cpp
Commit 259f597964ce71051e685f9b61fa3a14f9540303 by wuyanjun110
feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑
The file was modifieddata/obstacle/obstacle.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
Commit 394231d157e32897752b57338f4ce7005c15cbba by wuyanjun110
fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径
The file was modifieddata/config/cfg_safe_const.cpp
Commit 64d386ad766bd636bab93766fb2da25c04a45378 by wuyanjun110
feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度
The file was modifieddata/plan/path_direction_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit b4d00b792d4bb9e71da250164808250583acf73c by wuyanjun110
fix: 集卡搜索时滤除起点和终点车挂内部的og点

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/maps/ogm_builder.h
The file was modifiedssep/maps/ogm_builder.cc
Commit b99a6ef817f1b8c94f2aea6df788b676e1a3bdc3 by wuyanjun110
chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit 66fa765b858984a42c41669ae4b2c8ee600e000d by wuyanjun110
fix: keb task 修复路径被og点阻挡时轨迹异常的问题

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/common/utils/path_utils.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 14b080ef741e8924a6badc3e3895b8fcadb83c99 by wuyanjun110
fix: 调整对拖车姿态有效性的角度判断阈值
The file was modifieddata/plan/path_direction_data.cpp
Commit 03835a6edefc7751fa29c0afa94c963e61ef852e by wuyanjun110
fix:修复变道的约束
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 09c794cf8bb7f149f81d16444d7530994c976e9d by wuyanjun110
refactor:朝海侧，右转横二路，边界优化
The file was modifieddata/ssep/normal_junction_ec.cpp
Commit 730037190ab095ff3004718347429c4e827549c3 by wuyanjun110
refactor:极限变道约束优化
The file was modifieddata/ssep/ex_lane_change_ec.cpp
Commit 03a16b1951a8759def877fa6f2567a4a8ff87ea4 by wuyanjun110
feat: 添加地图限速膨胀系数并更新速度限制计算
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/plan/guide_line.cpp
Commit 03c0657ce15b2d36b9b7db1be30a799619f63c7b by wuyanjun110
fix:极限变道不replan的bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/search_decider/ex_lane_change_search_decider.cpp
Commit 1e376fed0cf72f9d441fd65936a3f32d639e9a5e by 5081703.cr
fix: wbca smooth path is exception in align state
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a17bb25611f78771eee83b455fdfbc8e51ad2e70 by 5081703.cr
fix: straight lane near crane and lock_station
The file was modifiedplan/prepare/prepare_status.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 53d5cb0217fc32e3efa1e81c8e69beb8f9fac676 by chenran
fix: sweep exception
The file was modifiedalgorithm/plan/sweep_area.cpp
Commit a1d6c4e0bfcef0f9ee935eed46ed4ca693207727 by wuyanjun110
fix: wbca path length = 40 in openspace
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 6d68160f633ecaf79f5d10bdd429fed96109a16e by wuyanjun110
fix:进堆场触发直连模式的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifiedssep/scenarios/scenario_planner_factory.h
Commit 33f73e9d8145c622051b09954603c6f272ca2149 by wuyanjun110
fix:上码头面前， 误入 进堆场场景的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit 7a7e1113cb2032a9b4154567f9428355baf3e979 by tangwenqing
feat: Keb: 实现rosbag->keb scene的数据转换工具

The file was addedoffboard/bag_to_keb_scene/bag_reader.hpp
The file was addedoffboard/bag_to_keb_scene/README.md
The file was modifiedCMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was addedoffboard/bag_to_keb_scene/CMakeLists.txt
The file was addedoffboard/bag_to_keb_scene/bag_reader.cc
Commit 8b78c5bcbf315994e7b6238c1d5185cab419aad9 by tangwenqing
chore: snapshot转keb scene的脚本使用流式读取，解决out of memory问题。真实录包验证通过。

The file was modifiedoffboard/bag_to_keb_scene/README.md
The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.cc
The file was modifiedoffboard/bag_to_keb_scene/bag_reader.hpp
Commit c0c14c2d3b302d1ece6e57277f25e32b0028e45a by tangwenqing
fix: Keb: 1. 解决sl road boundary转xy road boundary时产生的边界自相交问题。2. 对边界范围进行clamp。

The file was modifiedtasks/plan/keb_utils.cpp
Commit b7fd0ea445d47529917a4cbfbe8dbc1007c7c789 by tangwenqing
chore: snapshot to keb scene 增加批量转换功能

The file was modifiedoffboard/bag_to_keb_scene/bag_to_keb_scene.cc
The file was modifiedoffboard/bag_to_keb_scene/README.md
Commit ec72507c1222f7759bc263671e82114348ea6d1d by wuyanjun110
feat: 更新云轨迹相关函数以使用引导线替代参考线，并优化相对时间计算
The file was modifieddata/app/cmd/cmd_dead_lock_force_park.hpp
The file was modifieddata/plan/cloud_trajectory.hpp
The file was modifieddata/plan/cloud_trajectory.cpp
The file was modifieddata/plan/guide_line.cpp
Commit ba14473ce1031b6c19f65836d6fd990bd841085f by wuyanjun110
fix: 修改路径点格式化中的分隔符，从 '&' 改为 '#'
The file was modifieddata/plan/guide_line.cpp
Commit 7168dbfa30ffd93062b1608f08d636e57a33d4dd by wuyanjun110
feat: 增加对堆场直接进入的判断逻辑，并优化相关功能
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifieddata/ssep/base_stop_line_filter.cpp
The file was modifieddata/ssep/base_stop_line_filter.hpp
Commit f5eba086e38f878a9c59460cd274ccfac0bbba6e by wuyanjun110
引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度
The file was addedscenarios/task_condition_evaluator.hpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/scenario_interface.hpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedconfig/config_truck/scenario.yaml
The file was modifieddata/boundary/road_boundary.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was addedscenarios/task_condition_evaluator.cpp
The file was modifiedhmi/draw/draw_path_boundary.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
The file was modifiedscenarios/scenario.cpp
The file was modifiedscenarios/stage.hpp
Commit a2fe19adfd84af23f521e6790146fca98c816aaa by wuyanjun110
重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能
The file was modifiedhmi/widget/diagnose.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.hpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
The file was modifiedscenarios/task_condition_evaluator.hpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 31e09a791978ac342db474d9da6246ce4678fe46 by wuyanjun110
feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
Commit 5c66484117e480a1bf37b534af153741f5102910 by wuyanjun110
feat: 调整运动学可行性检查的最大归一化位置和朝向误差
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 01953a89de69f4ce40476214765121973d3f0c6f by wuyanjun110
feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifiedhmi/draw/draw_map.cpp
Commit 5c305ed4092e332ef41c2415f0d0c90174ff8ba4 by wuyanjun110
feat: 添加bulk in 堆场前临时停车功能
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/disable_stop_range.hpp
Commit b256d63212ae082f14354d1d39518463c61aa4d9 by tangwenqing
fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。

The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
Commit 4bf5c8270da914d3b1f5904f5e1bb979afa6cc7b by tangwenqing
chore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 1b988671fa14d46390c7e72167264eb91bb59f15 by wuyanjun110
feat: clang18 编译优化
The file was modifieddata/dp_poly_path/comparable_cost.hpp
The file was modifieddata/common/trajectory_point.hpp
The file was modifieddata/common/path_point.hpp
The file was modifieddata/obstacle/block.hpp
The file was modifiedcommon/util/hdmap_namespace.hpp
The file was modifieddata/common/trajectory.hpp
The file was modifieddata/map/reference/reference_segment.hpp
The file was modifiedCMakeLists.txt
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit dca6c98db33487af01a20e3a8e337741b290e6b0 by wuyanjun110
fix:崩溃防护，guide line 有效，但speedlimits为空
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 48d96b1fa2212d2e673a86427ae8c99c58fb86da by tangwenqing
fix: Keb: 修复终点附近轨迹会有碰撞的问题

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
Commit bba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f5 by tangwenqing
fix: SSEP: fix crashing issue

The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
Commit 0703acd58c84b4ace9abf4350bd6604c0e1b1cb7 by tangwenqing
chore: Keb-sim: 适配终点选取逻辑

The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
Commit 7877eff32392d61b24edcfd041e1ccc07f59101e by wuyanjun110
feat:动态上下码头面 直接进堆场场景的优化
The file was modifiedscenarios/task_condition_evaluator.cpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit d62544f9ee0f56a94a4c24195b03574a26b77cf1 by wuyanjun110
feat:添加云端轨迹 挂转角的赋值
The file was modifiedsink/ros_sink_cloud_trajectory.cpp
Commit f4c924bed3396eccd1d67360cab3d176a0167190 by wuyanjun110
fix:堆场前停车，停车原因赋值错误的bug
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 20fe40a09dfcc324d0d105ec3b5feb1f89049902 by wuyanjun110
fix:进堆场前停车，motion状态机错误的bug

The file was modifieddata/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 83813bf5122f441c9fb043e7bb24ea7a3db54dbf by wuyanjun110
fix:修复keb路径跳变的bug
The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit 48daa21458f0c4904c9c812e96c937f9ce34456c by wuyanjun110
feat:ctrl +shift  左键 可以 把车辆移动到 没有lane的位置上
The file was modifiedhmi/common/image_viewer.hpp
The file was modifiedhmi/widget/map.hpp
The file was modifiedhmi/common/image_viewer.cpp
The file was modifiedhmi/widget/map.cpp
Commit 06aae4d6feedb9c8d36a81dd8e23eb4ff1aeba2b by wuyanjun110
feat: 添加KEB可视化数据结构及相关功能
- 在CfgFuncSw和CfgHmi中添加KEB相关功能开关
- 实现KEB可视化数据的生成和更新
- 在绘制模块中集成KEB上层和下层线段的绘制
- 更新路径优化任务以支持KEB可视化数据
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifiedhmi/widget/pnc_mat_shared.cpp
The file was modifiedhmi/draw/draw_all.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/plan_frame.hpp
The file was modifiedhmi/node_hmi.cpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifieddata/config/cfg_hmi.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedhmi/draw/draw_perception.hpp
The file was modifieddata/config/cfg_hmi.cpp
The file was addeddata/plan/keb_visualize_data.hpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
Commit 4482c5612405410d84008ea262418b70bf895a36 by wuyanjun110
feat: 更新CfgFuncSw类的序列化版本，添加新功能支持
The file was modifieddata/config/cfg_func_sw.hpp
Commit 3a44489a43b861ce26073ac5d976d351b5a1fbc9 by wuyanjun110
feat: 岸桥搜索添加黑名单功能
The file was modifieddata/scenario/scenario_planner_bt.cpp
Commit 51f5fb1c968a563b794d66cc91759514d44ffb42 by tangwenqing
chore: Keb: 优化IMV的避障效果

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
Commit fcb1fdf1c53233f194b8e9f1689ec363d96b4305 by liuhongshuo
fix: 匹配STOP_DECIDER前移
The file was modifiedtasks/deciders/other_decider/stop_decider.cpp
Commit fc7059e89de4fef19ca9cf953d4b7fd61aa8a80b by wuyanjun110
feat: 添加异步处理功能以优化地图包围区域的创建
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/ssep/online_region_contour_creator.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
Commit 4fc2be86a4d1eca4b53f4d56e62c97f5fb031f1d by wuyanjun110
fix:场景切换的bug
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit 71c16bf45e561eefea113e465b699a33859d6b86 by tangwenqing
chore: SSEP: 优化集卡上下码头面路径

The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/scenarios/planner_utils.cc
Commit dc17e68abc06ca8dbb3d1a3db7def4422dcc39b9 by tangwenqing
chore: SSEP: 提升跨运车抓车搜索成功率

The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path.cc
Commit d428ac57bfe7d217213aad704585bdf2d4a209c1 by wuyanjun110
feat:<洋浦>适配洋浦新增区域的搜索
The file was modifieddata/other/flow_control.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/config/cfg_region.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/map/envelop/map_envelop.cpp
The file was modifieddata/config/cfg_region.hpp
The file was modifiedhmi/draw/draw_map_envelpos.cpp
Commit 952cf19b4410c444d684bf51bd2c2c11a8a12d28 by wuyanjun110
refactor:包围框合并的优化
The file was modifieddata/ssep/online_region_contour_creator_test.cpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
Commit ec973944b1c5336b5bc7b0be2ee23c1fe9e8722c by chenran
fix: add smooth_mode opt
The file was modifieddata/wbca/wbca_data.cpp
The file was modifieddata/wbca/wbca_data.hpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 0402e566a438f1ecc6493e52121d7fb81899c447 by wuyanjun110
feat:出堆场搜索异常的bug
The file was modifieddata/ssep/out_yard_junction_ec.hpp
The file was modifieddata/ssep/field_junction_ec.cpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.hpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit f8751de6c7c51feabc56f3ede005f3d91eeaf6e2 by wuyanjun110
feat:洋浦 进（普通堆场的形状）堆高机场的入口限速
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 3d1116dbde5bce9a82f7fe09b17c4bb1d4191b92 by chenran
fix: smooth mode optimization
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
Commit 9ff260ca7d9c1471700c9e5906d9044dea3b06f5 by tangwenqing
fix: 修复威海车型不匹配的问题

The file was modifieddata/ssep/ssep_ec.cpp
Commit 52e6001f5205980ce9c490bbf25c6ca7a717b142 by wuyanjun110
feat: 添加车辆侵入车道限速功能及相关配置
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 26eab9bdf200a10462c4cf067b756cfa1fe1ef12 by wuyanjun110
feat: 增强边界约束条件，确保在使用侵入限速功能时检查道路边界和引导线可用性
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 3af6e994b8161f051b44d6dd9558ab6bf9f5ca5a by wuyanjun110
refeat:重构 障碍物侵入道路后的限速
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedtasks/deciders/long_decider/time_path_graph_decider.cpp
Commit 81b6dcb273bd1aee8059365f8af0e1cd3374f236 by wuyanjun110
feat: 添加 .codewhale 和 .deepseek 到 .gitignore
The file was modified.gitignore
Commit ae8ab329ceb7d1a30a431ee4d300205663d11092 by wuyanjun110
feat: 增加对特定区域类型的检查，避免在码头面、堆场和堆高机场 判断 场桥禁停
The file was modifiedplan/prepare/prepare_objs.cpp
Commit 398a5dee83c255b4607ca23de24bb5f1fa59c340 by wuyanjun110
refctor:风险限速和聚类限速时，限制最大减速度
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 41e19d82884238bccdc50cedde9bc7a36aa8cfe7 by wuyanjun110
feat: 绕行时，沟点不进行膨胀
The file was modifieddata/boundary/driving_corridor.cpp
Commit f9a6597d905bb67f260fa38a8a12d1c0fa1d5023 by chenran
fix: cancel wbca smooth_mode for the first frame
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit d9c144437f5bcc7c4c0a1148d9bc451648037754 by 5081703.cr
fix: cancel wbca smooth_mode for the first frame
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
Commit f3aba82df778e601e86da27f92dcd1450b825ebe by tangwenqing
chore: SSEP: 减小集卡多段倒车的最大曲率

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 8c8b71cf02fe784ac0d3eb84cf560a87b76ca4b7 by tangwenqing
chore: SSEP: IMV普通搜索过滤明显存在碰撞的路径。

The file was modifiedssep/scenarios/imv_general_planner.h
Commit 9860e5e10afab9d9dd953a2dd845a82a066553f9 by wuyanjun110
feat: 添加功能开关以控制 吊具高度 是不是 切换状态机， 默认打开
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 151700eb9e713ee4168cd2f08445528b425cbcd8 by tangwenqing
fix: Keb: 延长段路径不验证运动学可行性

The file was modifiedalgorithm/plan/keb_optimizer.cpp
Commit c35888b2dfcf4e0b9a93a519ff31c6fcd9ff38e2 by tangwenqing
feat: SSEP: 将GPU搜索重写，整合进目前的CPU搜索框架中。目前的搜索框架改进为CPU-GPU混合框架，可以任意配置使用CPU/GPU搜索组件。

The file was removedssep/gpu/cost/curvature_cost.cuh
The file was modifiedssep/test/CMakeLists.txt
The file was modifiedssep/coarse_search/indexed_priority_queue.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/reverse_primitive_decorator.h
The file was removedssep/gpu/heur_table_loader.cu
The file was modifiedssep/test/ssep_planner_test.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was removedssep/test/gpu_ref_line_cost_test_kernel.cuh
The file was addedssep/coarse_search/gpu_context.h
The file was removedssep/gpu/kernels/batch_expand_kernel.h
The file was modifiedssep/coarse_search/evaluator/cost_feature_computer.h
The file was modifiedssep/test/gpu_sampler_test.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was removedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.cc
The file was removedssep/gpu/samplers/sampler_params.h
The file was addedssep/coarse_search/bounded_priority_queue.h
The file was removedssep/test/gpu_heuristic_test_kernel.cuh
The file was addedssep/gpu/samplers/sampler_bridge.h
The file was removedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was removedssep/gpu/cost/path_length_cost.cuh
The file was removedssep/gpu/heur_table_loader.h
The file was removedssep/test/gpu_heuristic_test_kernel.cu
The file was removedssep/gpu/batch_expander_bridge.h
The file was addedssep/gpu/collision/collision_batch_bridge.cu
The file was removedssep/coarse_search/gpu_bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/motion_primitive_sampler.h
The file was removedssep/test/gpu_heuristic_test.cc
The file was removedssep/test/gpu_cost_test.cc
The file was addedssep/coarse_search/evaluator/gpu_collision_cost_computer.h
The file was removedssep/coarse_search/gpu_batch_expander.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was removedssep/gpu/kernels/batch_expand_kernel.cu
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/gpu/device_types.h
The file was removedssep/coarse_search/searcher_builders/gpu_tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/gpu_context.cc
The file was removedssep/test/gpu_ref_line_cost_test_kernel.cu
The file was removedssep/test/gpu_ref_line_cost_test.cc
The file was addedssep/gpu/collision/collision_batch_bridge.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/offboard/CMakeLists.txt
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.h
The file was removedssep/coarse_search/gpu_batch_expander.cc
The file was removedssep/gpu/heuristics/heuristic_computer.cuh
The file was addedssep/coarse_search/motion_primitive_sampler/gpu_multi_curvature_sampler.cc
The file was removedssep/gpu/batch_expander_bridge.cu
The file was removedssep/gpu/heur_table_loader.cc
The file was removedssep/gpu/cost/ref_line_cost.cuh
The file was addedssep/coarse_search/evaluator/gpu_collision_cost_computer.cc
The file was addedssep/gpu/samplers/sampler_bridge.cu
The file was modifiedssep/coarse_search/batched_priority_queue.h
Commit 2acb091b21689887f148d0df82b1a0b3fef171af by wuyanjun110
fix:修复路径拼接的bug
The file was modifieddata/common/path.hpp
The file was modifieddata/common/path.cpp
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp
Commit 49fd6e14f06967753a29c172ea1f1a3b183d3443 by wuyanjun110
feat: 优化判断逻辑，增加起始点方向差异判断以决定是否需要全平滑
The file was modifieddata/plan/smooth_data.cpp
Commit 5470ffd1bdb0c00035a4754c2bf7dda94e75c6b2 by wuyanjun110
refactor:<PJPO>优化求解的成功率
The file was modifiedCMakeLists.txt
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedalgorithm/plan/pjpo.cpp
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedtasks/plan/trailer_pjpo_task.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_path_problem.cpp
The file was addedTesting/pjpo_case_test.cpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.cpp
The file was modifiedalgorithm/plan/pjpo.hpp
The file was modifiedmath/piecewise_jerk/piecewise_jerk_problem.hpp
Commit 3c97e84a97b7c6fe7f8fc038c48f05600fdc2f4c by tangwenqing
chore: Keb: 1. 解决IMV从当前点规划轨迹异常的问题。2. 解决IMV轨迹画龙问题

The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_utils.h
Commit e6322327d2b40d21e42c429bb0c13eb3a586c092 by wuyanjun110
fix: 修改锁定站点为狭窄空间的参数默认值为false
The file was modifieddata/config/cfg_func_sw.cpp
Commit 2b8630bb28241bdac3a14af8c243551f2c05a236 by wuyanjun110
refactor: 修改GetOgmSize函数签名，增加车辆状态参数以优化OGM大小计算
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 764219d0d68f42da1d4279cb3930f6c934d284a0 by wuyanjun110
feat: 添加NormalizePolygonsForUnion函数以处理多边形归一化，并增加相应的单元测试
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/online_region_contour_creator_test.cpp
Commit 7baa2b7a96e4e1eeb97393b14b7e7249721a6f42 by wuyanjun110
fix: 修改杨浦区域半径值为2000以配置扩大的堆场
The file was modifieddata/config/cfg_region.cpp
Commit 065d835f51e01dac7fcd62e40121f5a6b8836fea by wuyanjun110
fix: 更新停止标志重叠匹配逻辑，增加对交叉口ID的检查并调整LaneSegment的合并参数
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 189d9acb5a0c2e80928154c602b5b3f2f99f0caa by wuyanjun110
fix:修复快照播放崩溃的bug
The file was modifieddata/common/guide_path.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 4e529beda6281c89daa913f798b557c92d0a3df5 by chenran
fix: curature over limit stop optimization
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_safe_const.cpp
Commit 1b8760659f115f904630f63c1c3846324e8a6a07 by wuyanjun110
feat:replay界面添加菜单选项 控制是否进行 obj和ogm的碰撞检测
The file was modifieddata/config/cfg_hmi.hpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifiedhmi/replayer_hmi.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifieddata/plan_frame.cpp
The file was modifieddata/config/cfg_hmi.cpp
Commit c5cb73ea011dc96e57e8627246e29fe6cd3f8b28 by wuyanjun110
feat: 添加CloudTrajectoryPoint的赋值运算符重载
The file was modifieddata/plan/cloud_trajectory.hpp
Commit cf2d8b2594e72a6829842a63598cdefe67a0cb60 by wuyanjun110
feat: 注释掉OgmCollisionPos函数中的更新检查
The file was modifiedhmi/draw/draw_collision_detection.cpp
Commit b7f53a0bfa8f370f104b66a273b55a68190e004f by chenran
fix: add lane_change_path_task v2
The file was modifieddata/config/cfg_stage.cpp
The file was addedtasks/plan/lane_change_path_task_v2.hpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was addedtasks/plan/lane_change_path_task_v2.cpp
The file was modifiedconfig/config_imv/scenario.yaml
The file was modifiedtasks/task_factory.cpp
The file was modifieddata/config/cfg_stage.hpp
Commit 2be0f64285d53b8256901d73c26151fdc29e4962 by chenran
fix: check out feat_keb_v2 ssep
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.offset.h
The file was modifiedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was modifiedssep/maps/ogm.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.version.h
The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/keb_optimizer/distance_field_interpolator.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.cc
The file was modifiedssep/scenarios/truck_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/data_structures/polyline.cc
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.export.h
The file was addedssep/common/utils/clipper2/src/clipper.triangulation.cpp
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.rectclip.h
The file was modifiedssep/maps/ogm_builder.cc
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.core.h
The file was modifiedssep/maps/ogm_builder.h
The file was addedssep/common/utils/clipper2/src/clipper.offset.cpp
The file was modifiedssep/CMakeLists.txt
The file was addedssep/maps/ogm_config_utils.cc
The file was addedssep/maps/ogm_config_utils.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.engine.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.triangulation.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was addedssep/common/utils/clipper2/src/clipper.engine.cpp
The file was addedssep/common/utils/clipper2/src/clipper.rectclip.cpp
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.minkowski.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was addedssep/common/utils/clipper2/include/clipper2/clipper.h
The file was addedssep/keb_optimizer/cost_features/sdf_disk_collision_cost.h
The file was addedssep/keb_optimizer/cost_features/cost_functions.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 06e526f2797cfcdd974b7b87376af8b99a580769 by chenran
fix: add ssep_forward_ec_tail_straight_distance
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 4da237d56ec56e6398403c46895e6244eef96c09 by chenran
fix: ssep replan bug
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp