Changes

#1449 (Jan 20, 2026 5:04:43 PM)

1. fix:修复变道校验障碍物选择的bug — wuyanjun110 / detail

#1448 (Jan 19, 2026 9:38:19 PM)

1. fix: wbca debug mode. — 5081703.cr / detail
2. fix: ProjectVelocityAlongPath bug. — 5081703.cr / detail
3. feat:调整cmakelist — wuyanjun110 / detail
4. feat:优化变道 — wuyanjun110 / detail

#1447 (Jan 19, 2026 4:47:46 PM)

1. fix:修复动态上下面过程中，提前切换到bulk场景的bug — wuyanjun110 / detail
2. fix: ogm.height/width — wuyanjun110 / detail

#1446 (Jan 19, 2026 11:13:44 AM)

1. feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。 — tangwenqing / detail
2. feat: SSEP: 可视化增加地图元素显示 — tangwenqing / detail
3. chore: SSEP: minor updates — tangwenqing / detail
4. fix: no_shift region around destination. — 5081703.cr / detail
5. feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。 — tangwenqing / detail
6. Refactor: SSEP: 用aabox替换vector<double>表示search bounds — tangwenqing / detail
7. fix: truck wbca replayer debug. — 5081703.cr / detail
8. chore: SSEP: Improve bidirectional search — tangwenqing / detail
9. fix: fix compile errors — tangwenqing / detail
10. fix: using wbca failed_count to deactivate history. — 5081703.cr / detail
11. fix: SSEP: 解决集卡常规场景轨迹异常的问题 — tangwenqing / detail
12. fix: SSEP: 修复IMV出停车位路径异常的问题 — tangwenqing / detail
13. fix:imv进停车位双向搜索的bug — wuyanjun110 / detail
14. fix:切换到idle保持状态的bug — wuyanjun110 / detail
15. feat:苏溪,西联,董分 双向搜索的bug — wuyanjun110 / detail
16. chore:添加gitgnore — wuyanjun110 / detail
17. fix:驾驶走廊图构建的bug — wuyanjun110 / detail
18. chore:删除多余的log — wuyanjun110 / detail
19. feat:调整 float to half — wuyanjun110 / detail
20. feat:终点距离的判断使用map distance — wuyanjun110 / detail

#1445 (Jan 17, 2026 10:59:46 AM)

1. feat_out:字段精度调整 — zhaojianfeng2 / detail

#1445 (Jan 17, 2026 10:59:46 AM)

1. fix:disable low bay. — 5081703.cr / detail

#1445 (Jan 17, 2026 10:59:46 AM)

1. feat_out: add lane name — caoxue / detail
2. feat_out: Region新增REGION_REDUCE_FOLLOW_DISTANCE,REGION_MORE_LOWER_SECURITY_THRESHOLD — caoxue / detail

#1444 (Jan 16, 2026 4:17:07 PM)

1. fix: using start_pt from guide_line. — 5081703.cr / detail

#1444 (Jan 16, 2026 4:17:07 PM)

1. feat_out: Region新增REGION_REDUCE_FOLLOW_DISTANCE,REGION_MORE_LOWER_SECURITY_THRESHOLD — caoxue / detail

#1443 (Jan 16, 2026 12:46:34 PM)

1. fix: cfg_static bug — 5081703.cr / detail
2. fix: replayer bug — 5081703.cr / detail
3. feat:适配新的region — wuyanjun110 / detail

#1443 (Jan 16, 2026 12:46:34 PM)

1. feat_out: Region新增REGION_REDUCE_FOLLOW_DISTANCE,REGION_MORE_LOWER_SECURITY_THRESHOLD — caoxue / detail

#1442 (Jan 15, 2026 1:52:51 PM)

1. fix: no_shift region around destination. — 5081703.cr / detail
2. feat:调整 hfsm status中cur lane id的逻辑 — wuyanjun110 / detail
3. fix: deviation speed limit bug. — 5081703.cr / detail
4. fix: truck wbca replayer debug. — 5081703.cr / detail
5. fix: truck wbca replayer debug. — 5081703.cr / detail
6. feat:优化cur laneid的赋值 — wuyanjun110 / detail
7. fix: using wbca failed_count to deactivate history. — 5081703.cr / detail
8. fix: merge bug. — 5081703.cr / detail
9. fix:搜索起点太远的问题 — wuyanjun110 / detail

#1441 (Jan 15, 2026 11:35:40 AM)

1. fix: redefine remote ctrl direction. — 5081703.cr / detail

#1440 (Jan 14, 2026 6:08:59 PM)

1. fix: start_pt heading for smooth mode — 5081703.cr / detail
2. fix: unloading target logic. — 5081703.cr / detail

#1439 (Jan 14, 2026 4:41:04 PM)

1. feat:优化cur laneid的赋值 — wuyanjun110 / detail

#1438 (Jan 14, 2026 3:36:13 PM)

1. Update daxie-submodule.jenkinsfile — weilikang / detail

#1438 (Jan 14, 2026 3:36:13 PM)

1. fix:修复出停车位ssep路径方向的bug — wuyanjun110 / detail
2. fix:sweep路径的bug — wuyanjun110 / detail
3. feat:界面添加障碍物类别的显示 — wuyanjun110 / detail
4. feat:优化云端障碍物的赋值 — wuyanjun110 / detail
5. fix: 修复威海car bulkout场景进错的问题 — tangwenqing / detail
6. fix: typo — tangwenqing / detail
7. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 — tangwenqing / detail
8. fix: deviation speed limit bug. — 5081703.cr / detail

#1437 (Jan 14, 2026 2:42:09 PM)

1. feat:调整 hfsm status中cur lane id的逻辑 — wuyanjun110 / detail

#1436 (Jan 14, 2026 1:39:53 PM)

1. fix: no_shift region around destination. — 5081703.cr / detail

#1435 (Jan 14, 2026 10:53:17 AM)

1. note_out: 添加车挂信息（云控输入） — liuwenjing / detail
2. feat:lonmpc — wuyanjun110 / detail
3. feat: mass estimation debug — wuyanjun110 / detail
4. fix:调整pnc_debug观测项 — wuyanjun110 / detail
5. feat:油门标定消息 — wuyanjun110 / detail
6. feat:增加观测 — wuyanjun110 / detail
7. feat:添加挂尺寸相关字段 — wuyanjun110 / detail
8. feat:删除多余的字段 — wuyanjun110 / detail
9. feat_out:外设操作命令修改 — zhaojianfeng2 / detail
10. feat:添加挂尺寸相关字段 — 5081703.cr / detail
11. feat:删除多余的字段 — 5081703.cr / detail
12. feat_out:增加夹爪控制及反馈 — zhaojianfeng2 / detail
13. fix:pnc_debug/observer_debug更改 — liuhongshuo / detail
14. feat_out:增加剩余续航里程字段 — zhaojianfeng2 / detail

#1435 (Jan 14, 2026 10:53:17 AM)

1. fix: minimize esdf_map — 5081703.cr / detail
2. fix:修复崩溃的bug — wuyanjun110 / detail
3. fix:修复崩溃的bug — wuyanjun110 / detail
4. fix: dx_norm = path_1_tmp.norm — 5081703.cr / detail
5. fix: merge wbca_v2. using soft_min collision cost for truck. — 5081703.cr / detail
6. feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。 — tangwenqing / detail
7. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 — tangwenqing / detail
8. fix: wbca ignores ref_pts out of range. — 5081703.cr / detail
9. fix:修复出停车位ssep路径方向的bug — wuyanjun110 / detail
10. fix:sweep路径的bug — wuyanjun110 / detail
11. feat:界面添加障碍物类别的显示 — wuyanjun110 / detail
12. feat:优化云端障碍物的赋值 — wuyanjun110 / detail
13. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 — tangwenqing / detail
14. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 — tangwenqing / detail
15. chore: SSEP: Car车型多段倒车参数调整 — tangwenqing / detail
16. feat: add repowiki by qoder — liuhongshuo / detail