Changes

#1952 (Jul 25, 2026 10:08:49 AM)

1. feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 — tangwenqing / detail
2. fix: SSEP: 修复变道轨迹末端可能画龙的问题 — tangwenqing / detail
3. chore: SSEP:  解决集卡倒车距离障碍物较近时会倒着进的问题 — tangwenqing / detail
4. feat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景 — wuyanjun110 / detail
5. feat: HMI快照按钮触发发SNAP录包(关掉决策结果保存) — wuyanjun110 / detail

#1951 (Jul 24, 2026 3:29:35 PM)

1. fix: search from current position for bulk_in — chenran / detail

#1950 (Jul 24, 2026 2:57:46 PM)

1. fix: 会车让行逆向道几何改用 guide 系断面, 钳制线改为逆向道近边界 — wuyanjun110 / detail
2. feat: HMI快照按钮触发发SNAP录包(关掉决策结果保存) — wuyanjun110 / detail
3. feat: 窄会车主动贴右让行(走廊左界钳到对向车近侧)+修急停判定两处笔误 — wuyanjun110 / detail
4. perf: 窄会车贴右就近查改单调游标(O(n²)→均摊O(n)), 诊断日志降频 — wuyanjun110 / detail

#1949 (Jul 24, 2026 12:13:58 PM)

1. fix: search repeatly after offset being  invalid — chenran / detail
2. fix: update debug_bulk_pos_size default value — chenran / detail
3. fix: disable sc_target deviation stop when offset < 0 — chenran / detail

#1948 (Jul 24, 2026 11:42:38 AM)

1. fix: is_in_straight_lane = false during park state — chenran / detail
2. fix: disable replan during path direction changing for straightening — chenran / detail
3. feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 — chenran / detail

#1946 (Jul 23, 2026 4:40:36 PM)

1. fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级 — wuyanjun110 / detail
2. fix: Path/DiscretizedPath 空与单点场景既有隐患修复 — wuyanjun110 / detail
3. 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
4. fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为 — wuyanjun110 / detail
5. feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源 — wuyanjun110 / detail
6. feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp) — wuyanjun110 / detail
7. feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细 — wuyanjun110 / detail
8. fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入 — wuyanjun110 / detail
9. feat: 绕行决策加固一轮(误绕行治理+类型策略+动作承诺+限速补全) — wuyanjun110 / detail
10. fix: 绕行DP转移预剪放宽, 治偏置起点+畸短首段致l=0直行走廊不可达误绕行 — wuyanjun110 / detail
11. feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行) — wuyanjun110 / detail
12. feat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true) — wuyanjun110 / detail
13. feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等 — wuyanjun110 / detail
14. chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧) — wuyanjun110 / detail
15. fix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃 — wuyanjun110 / detail
16. feat: 会车逆向道窄时不借道让行(纯逻辑判场景+走廊左界渐变钳) — wuyanjun110 / detail
17. feat: 烟台车内/柱子/房子点云及下沉坑点适配 — wuyanjun110 / detail

#1945 (Jul 23, 2026 1:13:51 PM)

1. fix: stop for path searching — chenran / detail

#1944 (Jul 23, 2026 11:12:05 AM)

1. fix: show the rectangle of the bulk_pt — chenran / detail
2. fix: show debug bulk_pt — chenran / detail
3. fix: inverse debug bulk_pt heading — chenran / detail

#1941 (Jul 22, 2026 8:10:23 PM)

1. Update vehicleInfo.groovy — weilikang / detail

#1941 (Jul 22, 2026 8:10:23 PM)

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

#1941 (Jul 22, 2026 8:10:23 PM)

1. fix: bulk_in path opt — chenran / detail

#1940 (Jul 22, 2026 6:12:24 PM)

1. fix: straight_path_task thr — chenran / detail

#1939 (Jul 22, 2026 5:41:03 PM)

1. fix: quit turn_in_place in advance — chenran / detail

#1938 (Jul 22, 2026 4:10:38 PM)

1. Update vehicleInfo.groovy — weilikang / detail

#1938 (Jul 22, 2026 4:10:38 PM)

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

#1938 (Jul 22, 2026 4:10:38 PM)

1. chore: Keb: 忽略ssep_ec中缓存的real obstacles — tangwenqing / detail
2. refactor: SSEP: 移除ilqr集卡轨迹库功能 — tangwenqing / detail
3. feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 — tangwenqing / detail
4. fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入 — wuyanjun110 / detail