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Changes

Summary

  1. chore: Keb-task: 重构并适配keb_lane_follow task (details)
  2. chore: update gitignore (details)
  3. fix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题 (details)
  4. chore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。 (details)
  5. feat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。 (details)
  6. fix: SSEP: 修复跨运车原地自转未分段的问题。 (details)
  7. feat:进堆场时，关闭区域的校验 (details)
  8. feat: 添加合并包络框功能的配置选项 (details)
  9. fix:西联码头面搜索 引桥搜索 普通路口搜索， 终点选取， 场景触发的bug (details)
  10. fix:洋浦， 修复B004搜索失败的bug (details)
  11. refactor:优化多次禁停的问题 (details)
  12. refactor: 为海南洋浦区域的场桥障碍物增加安全边距 (details)
  13. refactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败， 不拼接参考线 (details)
  14. refactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题 (details)
  15. fix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息 (details)
  16. feat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。 (details)
  17. refactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦 (details)
  18. feat: 实现缓冲区停车功能（Buffer Stop） (details)
  19. chore: SSEP: 适配烟台跨运车的新需求 (details)
  20. feat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用 (details)
  21. feat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航 (details)
  22. feat: 终点和 起点不在一条车道上， 并且 终点在身后就的处理 (details)
  23. fix:动态下码头面然后进堆场，搜索过早的问题。 (details)
  24. fix: sweep exception (details)
  25. fix: sweep exception (details)
  26. fix: wbca path length = 40 in openspace (details)
  27. fix:进堆场触发直连模式的bug (details)
  28. fix:上码头面前， 误入 进堆场场景的bug (details)
  29. fix: wbca path length = 40 in openspace (details)
  30. fix:进堆场触发直连模式的bug (details)
  31. fix:上码头面前， 误入 进堆场场景的bug (details)
  32. fix:一次规划终点匹配失败的bug (details)
  33. fix:在 SeasideSearch 行为中增加对引桥路口区域的判断 (details)
  34. fix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题 (details)
Commit 6d0b3d30c4d7c182792259dc8efb60945ebce0d6 by tangwenqing
chore: Keb-task: 重构并适配keb_lane_follow task

The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedoffboard/keb_path_opt_cli/closed_loop_utils.hpp
The file was modifiedproto/keb_scene.proto
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 30f38647c7749669d247e8f727e07ba616917798 by tangwenqing
chore: update gitignore

The file was modified.gitignore
Commit 63cda91be69689b2039cb7aa69790f39ac64b9eb by tangwenqing
fix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 35da80b42556c3c13bd67f001e9ddf94e3233371 by tangwenqing
chore: SSEP-Offboard: 提升路径绘制工具自适应调整航向与控制点的准确率。

The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cc
The file was modifiedssep/offboard/path_drawing_tool/path_drawing_html_template.cc
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.h
The file was modifiedssep/offboard/path_drawing_tool/hermite_path_generator.h
The file was addedssep/offboard/path_drawing_tool/curvature_auto_adjuster.cc
The file was modifiedssep/offboard/path_drawing_tool/CMakeLists.txt
Commit 0d4fca04b4d74907d809808b3b30bed64c93ab53 by tangwenqing
feat: Keb-Lane-Follow-Task: 适配Car与IMV，并测试验证通过non-SSEP场景的实时优化全流程。

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/keb_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifieddata/plan/ssep_data.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedoffboard/keb_vis_server/keb_vis_html_template.cc
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/data_structures/path.h
The file was modifiedreplayer/replayer_data_process/replayer_data_extraction.cpp
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was modifiedtasks/plan/keb_lane_follow_path_task.hpp
The file was modifiedproto/keb_scene.proto
Commit 2da20d45beb0b522882ca22b1dfdec19fc89657f by tangwenqing
fix: SSEP: 修复跨运车原地自转未分段的问题。

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/ssep_planner.h
Commit 10463e123097bc52d7217d576b79852a1b792929 by wuyanjun110
feat:进堆场时，关闭区域的校验
The file was modifieddata/ssep/region_builder.cpp
Commit 038e3a9a16edd662ac1889b1454eaab64843c79d by wuyanjun110
feat: 添加合并包络框功能的配置选项
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit a749d4457e306896416f3e50bfa67d33f8439885 by wuyanjun110
fix:西联码头面搜索 引桥搜索 普通路口搜索， 终点选取， 场景触发的bug

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/scenario/scenario_planner_bt.cpp
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/bridge_junction_ec.cpp
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifieddata/scenario/scenario_planner_condition.cpp
Commit c82d7c75adc8a4ffe39435a20b495fc6ea78afaf by wuyanjun110
fix:洋浦， 修复B004搜索失败的bug
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit a685fcbefdd9384cdc97b90451f6757e6d35ae50 by wuyanjun110
refactor:优化多次禁停的问题

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/constrain/temporary_stop_data.cpp
The file was modifieddata/constrain/block_data.cpp
Commit 85e0e4776a8c5da790dce4e0b7db1d7ea4c2a020 by wuyanjun110
refactor: 为海南洋浦区域的场桥障碍物增加安全边距

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 219926ab23efaddf2f7dbc384e0dc63ba6c94df2 by wuyanjun110
refactor:有wbca或者keb的场景， ssep搜索成功， pjpo求解失败， 不拼接参考线
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit a42c2e0092ef295bd319f068f91dc031233e5530 by wuyanjun110
refactor:弯道后目标车道选择，优化在弯道的直道端，拒绝指令的问题
The file was modifieddata/map/reference/bends_decider/bend_decider.cpp
Commit ab3c49bf513e32124fee4f8cc0896f2e6af2fbad by tangwenqing
fix: Keb-task: 修复优化可能不收敛的问题，修复OGM异常的问题，使用精确的运动学约束，调参，优化器输出结构化调试信息

The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was addedoffboard/keb_vis_server/crow/utility.h
The file was addedoffboard/keb_vis_server/crow/query_string.h
The file was modifiedCMakeLists.txt
The file was addedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cc
The file was addedoffboard/keb_vis_server/crow/multipart_view.h
The file was addedoffboard/keb_vis_server/crow/socket_adaptors.h
The file was addedoffboard/keb_vis_server/crow/TinySHA1.hpp
The file was addedoffboard/keb_vis_server/crow/returnable.h
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was addedoffboard/keb_vis_server/crow/http_server.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was addedoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hpp
The file was addedoffboard/keb_vis_server/crow/http_connection.h
The file was addedoffboard/keb_vis_server/crow/middlewares/cookie_parser.h
The file was addedoffboard/keb_vis_server/crow/middlewares/cors.h
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifieddata/config/cfg_ssep.cpp
The file was addedoffboard/keb_vis_server/crow/exceptions.h
The file was addedoffboard/keb_vis_server/crow/routing.h
The file was addedoffboard/keb_vis_server/crow/middlewares/session.h
The file was addedoffboard/keb_vis_server/crow/ci_map.h
The file was addedoffboard/keb_vis_server/crow/websocket.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was addedoffboard/keb_vis_server/crow/common.h
The file was addedoffboard/keb_vis_server/crow/middleware_context.h
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.hpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was addedoffboard/keb_vis_server/crow/app.h
The file was modifiedssep/param_loader/param.h
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.hpp
The file was addedoffboard/keb_vis_server/crow/mime_types.h
The file was addedoffboard/keb_vis_server/crow/parser.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was addedoffboard/keb_vis_server/crow/settings.h
The file was modifiedssep/keb_optimizer/keb_utils.cc
The file was modifiedssep/maps/ogm.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedalgorithm/plan/keb_optimizer.hpp
The file was addedoffboard/keb_vis_server/crow/socket_acceptors.h
The file was addedoffboard/keb_vis_server/crow/mustache.h
The file was addedoffboard/keb_vis_server/crow/http_response.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was addedoffboard/keb_vis_server/crow/compression.h
The file was addedoffboard/keb_vis_server/crow/version.h
The file was addedoffboard/keb_vis_server/crow/logging.h
The file was addedoffboard/keb_vis_server/crow/task_timer.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was addedoffboard/keb_vis_server/crow/json.h
The file was addedssep/keb_optimizer/cost_features/imv_steer_constraint.h
The file was modifiedssep/data_structures/path.cc
The file was addedoffboard/keb_vis_server/crow/http_parser_merged.h
The file was modifiedtasks/plan/keb_utils.hpp
The file was addedoffboard/keb_vis_server/crow/http_request.h
The file was addedoffboard/keb_vis_server/crow.h
The file was addedoffboard/keb_vis_server/crow/middlewares/utf-8.h
The file was addedoffboard/keb_vis_server/crow/middleware.h
The file was modifiedssep/maps/ogm.cc
The file was addedoffboard/keb_vis_server/crow/multipart.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
Commit f21b829b78b40da6565facea5ad6adb4047f7c2b by tangwenqing
feat: SSEP: 进堆场起点终点距离很近(小于15米)时，使用直连规划器生成路径。

The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was addedssep/scenarios/tractor_trailer_short_distance_planner.h
Commit d11b0a6d75dfd1ffc35b9d2318a4f3d4696be90c by tangwenqing
refactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦

The file was modifieddata/common/path.cpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was addedtasks/plan/keb_utils_core.cpp
The file was modifiedalgorithm/decision/path_turn_type.cpp
The file was modifieddata/obstacle/occupy_grid.hpp
The file was modifiedCMakeLists.txt
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifieddata/semantic/collision_position.hpp
The file was modifiedtasks/plan/keb_utils.hpp
The file was modifieddata/common/path.hpp
The file was modifieddata/common/guide_path.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
The file was modifieddata/common/path_point.cpp
The file was modifieddata/semantic/vehicle.cpp
The file was modifiedmath/curve2d/curve2d.hpp
The file was addedoffboard/keb_path_opt_cli/CMakeLists.txt
The file was modifieddata/common/path_point.hpp
The file was addedtasks/plan/keb_utils_core.hpp
Commit 6b0c4ec35fdc890ca61c9287f53f5ef1aa90eea7 by wuyanjun110
feat: 实现缓冲区停车功能（Buffer Stop）
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/vehicle/lock_station_data.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/scenario/scenario_planner_action.cpp
The file was modifieddata/vehicle/lock_station_data.hpp
The file was modifieddata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
Commit de88c099a7d7c1516cee194407392871901a23e7 by tangwenqing
chore: SSEP: 适配烟台跨运车的新需求

The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
Commit b15c67058b9dfb1389ea050d136a2fa3d51e5e3b by wuyanjun110
feat: 新增 align_move_threshold_ 配置参数并替换 align_3rd_4th_move_threshold_ 在 align1st 阶段的使用
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit 4cf4dcdb24ee9abd37eaa8ddd3ed8d819018cf3b by wuyanjun110
feat: 新增目的地匹配与路径距离计算功能，支持非终点目的地导航
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 0eb726db69d5b18d103d14937896e4e0988de476 by wuyanjun110
feat: 终点和 起点不在一条车道上， 并且 终点在身后就的处理

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit e49db8875d89b72d8e7f3236a4de6a02a61dd237 by wuyanjun110
fix:动态下码头面然后进堆场，搜索过早的问题。
The file was modifieddata/scenario/scenario_region_condition.cpp
Commit 53d5cb0217fc32e3efa1e81c8e69beb8f9fac676 by chenran
fix: sweep exception
The file was modifiedalgorithm/plan/sweep_area.cpp
Commit 5d4eb86bd0400691a024c1d3198f99dff970a322 by chenran
fix: sweep exception
The file was modifiedalgorithm/plan/sweep_area.cpp
Commit c606fdbf358d2f4ada4529ab7d896951bfa50e72 by chenran
fix: wbca path length = 40 in openspace
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit cdba3fef027f65b2762343f58883fe0974ee0dcb 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 dfd1996fcc1c321137668c2fec1bebd8475d8e73 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 a1d6c4e0bfcef0f9ee935eed46ed4ca693207727 by wuyanjun110
fix: wbca path length = 40 in openspace
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.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 aa1eca55157864ba12c7c386766cee95ae0c9fc3 by wuyanjun110
fix:一次规划终点匹配失败的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit ca275eebb8203a2f179f188e4297eb50b166773a by wuyanjun110
fix:在 SeasideSearch 行为中增加对引桥路口区域的判断
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit ccd6eed8c77e3d2f3b794161ca61c0126dcab706 by tangwenqing
fix: Keb-Task: 修复集卡双层避障优化路径可能震荡/不沿参考线行驶的问题

The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_utils_core.hpp
The file was modifiedtasks/plan/keb_utils.cpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedtasks/plan/keb_utils.hpp