Changes

Summary

1. Publish og line segments (details)
2. chore: 重新定义Og line segment msg (details)
3. feat:lonmpc (details)
4. feat: mass estimation debug (details)
5. fix:调整pnc_debug观测项 (details)
6. feat:油门标定消息 (details)
7. feat:增加观测 (details)
8. fix: 统一pnc_debug_msg/ObesrverDebug.msg (details)

Commit 8164471355763d16bf47ba3b6ba94e6d7655160b by wuyanjun110 Publish og line segments
	pnc_debug_msgs/CMakeLists.txt
	pnc_debug_msgs/msg/OgLineSegments.msg
	pnc_debug_msgs/msg/OgLineSegment.msg
Commit 995d2f70d145e971e6b16a086c18503d2882fefc by wuyanjun110 chore: 重新定义Og line segment msg
	pnc_debug_msgs/msg/OgLineSegment.msg
Commit bb357d9f55de56ffb8e81a618ae4d17e70403914 by wuyanjun110 feat:lonmpc
	pnc_debug_msgs/msg/MPCReference.msg
	pnc_debug_msgs/msg/LongitudinalDebug.msg
	pnc_debug_msgs/CMakeLists.txt
	pnc_debug_msgs/msg/LonMpcDebug.msg
Commit 8a9957037de066d3d4cdf82cbad7fdd3c8959c6a by wuyanjun110 feat: mass estimation debug
	pnc_debug_msgs/msg/ObserverDebug.msg
Commit bda37c1664a0b2e9597e3bccc1de248377a604a9 by wuyanjun110 fix:调整pnc_debug观测项
	pnc_debug_msgs/msg/ObserverDebug.msg
Commit 2b71c0304054364d87f064dcf43f568a81ed11e0 by wuyanjun110 feat:油门标定消息
	pnc_debug_msgs/msg/LonMpcDebug.msg
Commit 3fb873095fdaf1350fb114c2b530852ba9f8924d by wuyanjun110 feat:增加观测
	pnc_debug_msgs/msg/ObserverDebug.msg
	pnc_debug_msgs/msg/LonMpcDebug.msg
Commit fa59a10a56ef4a39aa887ed0e9824a27bdf5f675 by liuhongshuo fix: 统一pnc_debug_msg/ObesrverDebug.msg
	pnc_debug_msgs/msg/ObserverDebug.msg

Summary

1. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
2. feat: SSEP: 进堆场跑通无搜索规划 (details)
3. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
4. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
5. fix: road segment splitting bug. (details)
6. refact: GetRoadSegmentFirstSplitPos (details)
7. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
8. feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。 (details)
9. feat: SSEP: 进堆场跑通无搜索规划 (details)
10. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
11. fix: 修复keb task碰撞检测使用路径长度过长的问题 (details)
12. fix: SSEP: 修复无搜索模式可能崩溃的问题 (details)
13. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
14. fix: SSEP: 提升新版进堆场搜索的成功率 (details)
15. feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details)
16. feat: lka deviation after crane (details)
17. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
18. fix: SSEP: 修复变道路径可能有碰撞的问题 (details)
19. chore: keb task 增加最大转向角余量 (details)
20. chore: keb task 增加最大转向角余量 (details)
21. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
22. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
23. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
24. feat: 优化overlap s重计算，增加起始和结束点的有效性检查 (details)
25. fix: keb task ssep_end_s_ 赋值错误 (details)
26. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
27. fix: keb task ssep_end_s_ 赋值错误 (details)
28. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
29. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
30. feat: 添加状态机切换时间参数并优化相关逻辑 (details)
31. feat: 添加根据堆场内的车道名称扩展安全阈值 (details)
32. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
33. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
34. 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)
35. feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算 (details)
36. 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)
37. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
38. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
39. 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)
40. 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)
41. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
42. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
43. 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)
44. 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)
45. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
46. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
47. fix: keb task 修复路径被og点阻挡时轨迹异常的问题 (details)
48. feat: 杨浦 B003 B004适配 (details)
49. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
50. feat: yard name verification. (details)
51. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
52. fix: 调整对拖车姿态有效性的角度判断阈值 (details)
53. fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 (details)
54. feat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中 (details)
55. chore: SSEP: 自卸车进出散货堆场搜索使用软约束 (details)
56. fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题 (details)
57. fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details)
58. fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 (details)
59. feat: Add Keb-Lane-Follow Task (details)
60. fix: SSEP: 西联进充电桩压线问题修复 (details)
61. feat: SSEP:  普通卡车搜索增加“final_straight_distance”参数配置项 (details)
62. feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 (details)
63. feat:杨浦低贝位适配 (details)
64. fix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题 (details)
65. fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题 (details)
66. feat:合并ssep更改 (details)
67. fix: SSEP: 精确倒车时不使用历史路径 (details)
68. feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑 (details)
69. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
70. fix: SSEP: 修复普通卡车搜索拉直段失效的问题 (details)
71. feat:适配友谊关进停车的拉正距离 (details)
72. fix: disable default LKA deviation. (details)
73. feat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化） (details)
74. fix: lka deviation bug (details)
75. feat: add lbfgs prevous version. (details)
76. feat: SSEP: 接入离线轨迹库 (details)
77. feat: 苏溪调箱门场景适配 (details)
78. feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑 (details)
79. refactor:优化 停止线所属junction的判断逻辑 (details)
80. fix: SSEP: 修复苏溪集卡进停车位可能停歪的问题 (details)
81. feat:合并ssep更改 (details)
82. fix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度 (details)
83. feat:  SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程 (details)
84. chore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限 (details)
85. fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug (details)
86. fix: filter wbca path by cost (details)
87. fix: add switch for lbfgs to lbfgs_new (details)
88. fix: using new l_bfgs (details)
89. fix: cost filter for imv and truck (details)
90. fix: activate wbca smooth mode in align fsm. (details)
91. feat:直道地图包络构建的优化 (details)
92. feat: （动态搜索的box框),优化生成平行框的距离计算逻辑 (details)
93. fix: 更新DrawObject函数中的颜色值注释 (details)
94. fix: filter wbca cost without collision cost. (details)
95. fix: LKA deviation for out_yard (details)
96. Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。 (details)
97. feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。 (details)
98. feat:调整换向缩小安全距离的阈值 (details)
99. fix:修复变道的约束 (details)
100. fix:修复变道的约束 (details)
101. feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑 (details)
102. fix: cloud areas avoidence. (details)
103. chore: keb-task: 完整跑通keb-scene extranction及可视化全流程 (details)
104. refactor:朝海侧，右转横二路，边界优化 (details)
105. refactor:极限变道约束优化 (details)
106. refactor:朝海侧，右转横二路，边界优化 (details)
107. refactor:极限变道约束优化 (details)
108. feat: 添加地图限速膨胀系数并更新速度限制计算 (details)
109. feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。 (details)
110. refactor: openspace中的参考线为pnc引导线 (details)
111. fix:imv下码头搜索失败的bug (details)
112. fix: 修复imv普通搜索参考线错误的问题 (details)
113. fix: 修复imv普通搜索参考线错误的问题 (details)
114. fix:修复反向出停车位的bug (details)
115. fix:修复停止线绑定juntion的bug (details)
116. refactor:优化场桥转场判断 (details)
117. refctor:优化转场场桥box的使用 (details)
118. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
119. fix: pnc_map splitting error. (details)
120. feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化 (details)
121. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
122. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
123. chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑 (details)
124. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
125. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
126. fix:极限变道不replan的bug (details)
127. fix:极限变道不replan的bug (details)
128. fix: 优化SmoothTask执行逻辑，增加对特定条件的处理 (details)
129. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
130. chore: SSEP: 解决集卡多段倒车可能绕圈的问题 (details)
131. refactor:优化小地图绘制时间过长的问题 (details)
132. feat: 添加点云底图加载功能，支持异步加载和清除操作 (details)
133. feat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能 (details)
134. fix: SSEP: 修复多段倒车路径异常问题 (details)
135. feat: keb实时优化 - 双层车体碰撞模型通过离线测试 (details)
136. feat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真 (details)
137. fix: SSEP: 修复自卸车进卸料区路径有点斜的问题 (details)
138. fix: fiter cost_beta (details)
139. feat: trust-region solver based WBCA (details)
140. fix: max_ref_len 60 (details)
141. feat: Keb-Simulation: 3D可视化 (details)
142. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
143. feat:fsm interface 里面添加 开始对准是终点距离的接口 (details)
144. fix:align done 情况下还可以继续走的bug (details)
145. fix:停车原因赋值错误的bug (details)
146. feat:合并ssep (details)
147. fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 (details)
148. feat: 添加对值阈值和条件，优化对准决策逻辑 (details)
149. feat: SSEP-offboard: 添加离线路径绘制工具 (details)
150. fix: 添加路径点数量检查，确保至少有两个点以创建路径 (details)
151. feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能 (details)
152. feat: SSEP: 增加跨运车抓车场景 (details)
153. chore: SSEP-offboard: 修复bug，增加车体box可视化 (details)
154. feat:1.添加耗时显示2.优化绘制界面 map的绘制 (details)
155. fix:一次规划，单个车道分段时， 路径冲突判断的bug (details)
156. refactor: 注释掉不必要的代码，简化判断逻辑 (details)
157. refactor:优化ssep passing pt的赋值 (details)
158. feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 (details)
159. feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程 (details)
160. fix: wbca smooth path is exception in align state (details)
161. fix: wbca smooth path is exception in align state (details)
162. feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑 (details)
163. refactor: 简化pass_posture_的赋值逻辑 (details)
164. feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线 (details)
165. chore: Keb-task: 重构并适配keb_lane_follow task (details)
166. fix: straight lane near crane and lock_station (details)
167. chore: update gitignore (details)
168. refactor:优化界面耗时 (details)
169. feat:调整9861的跟车距离 (details)
170. fix: SSEP: 修复IMV普通搜索在弯道提前结束搜索的问题 (details)
171. 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)
172. fix:调整不可偏移区域生成的起始和结束位置计算 (details)
173. refactor:优化高度禁停点云的使用的逻辑 (details)
174. fix:移除后向OGM忽略距离的冗余计算 (details)
175. fix:修复垂直下码头面，box框生成的bug (details)
176. feat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置 (details)
177. feat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束 (details)
178. 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)
179. 优化轮廓合并算法并添加测试支持 (details)
180. fix: SSEP: 修复跨运车原地自转未分段的问题。 (details)
181. feat:进堆场时，关闭区域的校验 (details)
182. feat: 添加合并包络框功能的配置选项 (details)
183. 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)
184. fix:洋浦， 修复B004搜索失败的bug (details)
185. refactor:优化多次禁停的问题 (details)
186. refactor: 为海南洋浦区域的场桥障碍物增加安全边距 (details)
187. 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)
188. 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)
189. 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)
190. 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)
191. refactor: Keb-Offboard: 重构data::path的依赖关系，将keb path opt cli 与 pnc 工程解耦 (details)
192. feat: 实现缓冲区停车功能（Buffer Stop） (details)
193. chore: SSEP: 适配烟台跨运车的新需求 (details)
194. 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)
195. 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)
196. 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)
197. fix:动态下码头面然后进堆场，搜索过早的问题。 (details)
198. fix: sweep exception (details)
199. fix: sweep exception (details)
200. fix: wbca path length = 40 in openspace (details)
201. fix:进堆场触发直连模式的bug (details)
202. fix:上码头面前， 误入 进堆场场景的bug (details)
203. fix: wbca path length = 40 in openspace (details)
204. fix:进堆场触发直连模式的bug (details)
205. fix:上码头面前， 误入 进堆场场景的bug (details)
206. fix:一次规划终点匹配失败的bug (details)
207. fix:在 SeasideSearch 行为中增加对引桥路口区域的判断 (details)
208. 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)
209. feat:<西联>适配Uturn上码头面 (details)
210. fix: SSEP: 修复进堆场近距离模式判断条件错误 (details)
211. fix: Keb-task: 修复低贝位进堆场轨迹震荡的bug (details)
212. chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性） (details)
213. refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑 (details)
214. feat: 添加碰撞但不停车的龙门吊禁停区域记录 (details)
215. feat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据 (details)
216. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
217. chore: Keb-Diagnose: 关闭多初始解诊断 (details)
218. feat: Keb: 实现rosbag->keb scene的数据转换工具 (details)
219. fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑 (details)
220. feat: 适配云端障碍物类别的功能 (details)
221. fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据 (details)
222. fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查 (details)
223. 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)
224. 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)
225. 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)
226. 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)
227. 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)
228. feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。 (details)
229. chore: snapshot to keb scene 增加批量转换功能 (details)
230. fix:修复进bulk场景中，有一帧场景器不运行的bug (details)
231. fix: SSEP: ogm为空时退出搜索 (details)
232. refactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary (details)
233. fix: cancel wbca task_id verification (details)
234. feat: Keb: Add keb-foxglove visualization (details)
235. feat: Keb: Add foxglove remote file server (details)
236. fix: Keb: 修复keb-foxglove转换脚本 (details)
237. feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置） (details)
238. chore: SSEP: 跨运车路径搜索时不考虑终点约束 (details)
239. fix: 修复编译依赖关系未指定导致概率性编译失败的问题 (details)
240. chore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题 (details)
241. refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑 (details)
242. refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程 (details)
243. chore: SSEP: 集卡多段倒车接挂适配超窄库位 (details)
244. refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑 (details)
245. refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理 (details)
246. feat: 添加上层挂的前后基准距离计算 (details)
247. fix: Task Park时不使用参考线 (details)
248. feat: 添加限速相关参数和窄障碍过滤逻辑 (details)
249. feat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型 (details)
250. feat: 停车原因相关修改，新增禁行道路 OGM 停车类型 (details)
251. chore: SSEP: 苏溪IMV支持反向进停车位 (details)
252. fix: 修复烟台跨运车路径规划未到终点的问题 (details)
253. refactor:优化进堆场弯道禁停的忽略的距离 (details)
254. fix: SSEP: 修复近距离进堆场时先掉2次头再进堆场的问题 (details)
255. fix: SSEP: 修复途经点在后方时路径异常的问题 (details)
256. chore: SSEP: IMV增加条件忽略pass point (details)
257. fix: 调整CreateNoTrajectories中的remain_len逻辑，减少无轨迹停车 (details)
258. feat:苏溪进停车位场景识别的bug (details)
259. 支持通过参数配置堆高机任务完成的纵向安全边距 (details)
260. feat: 在forsearch搜索中，前港区域，不考虑矿卡障碍物 (details)
261. fix: Keb: 修复IMV后侧容易被挡停的问题 (details)
262. fix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题 (details)
263. fix: SSEP: 解决威海多段倒车距离og墙太近的问题 (details)
264. feat: 添加计划运行监视器以跟踪任务执行时间和状态 (details)
265. feat:终点在身后的时候 并且车辆没有移动的情况下 不创建停止线。 (details)
266. 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)

Commit 883b412a5a96493f584d7058fabe6533c8e1c498 by wuyanjun110 feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。
	ssep/common/utils/reference_line_stitcher.h
	ssep/data_structures/path.h
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/test/ssep_planner_test.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/common/utils/reference_line_stitcher.cc
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
	ssep/data_structures/path.cc
Commit 33080cb2d7b4baef6313b23ed6f72c926954f829 by wuyanjun110 feat: SSEP: 进堆场跑通无搜索规划
	ssep/data_structures/path.h
	ssep/ssep_planner.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/data_structures/path.cc
	ssep/common/utils/reference_line_stitcher.cc
Commit ff3983e85440eec20a8d71008f9c044361eed42b by wuyanjun110 fix: keb task 修复路径被og点阻挡时轨迹异常的问题
	ssep/common/utils/path_utils.cc
	tasks/plan/keb_path_optimize_task.hpp
	tasks/plan/keb_path_optimize_task.cpp
	ssep/common/utils/path_utils.h
Commit d10baa56499a6a39ce844c37382b8dcb7886e5b5 by wuyanjun110 fix: 修复keb task碰撞检测使用路径长度过长的问题
	ssep/data_structures/path.h
	tasks/plan/keb_path_optimize_task.cpp
	ssep/data_structures/path.cc
Commit 6602d54db962af381c83bd63f4d23cecef6f9642 by chenran fix: road segment splitting bug.
	data/map/pnc_map/pnc_map.cpp
Commit 5ea473b606083edbe4736f0a0cb6fbf6bb141762 by chenran refact: GetRoadSegmentFirstSplitPos
	data/map/pnc_map/pnc_map.cpp
Commit c423432f6f465d4814e1b8c6f5f102c54d077d0a by wuyanjun110 fix: SSEP: 修复无搜索模式可能崩溃的问题
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/common/utils/reference_line_stitcher.cc
	ssep/scenarios/scenario_planner_factory.h
Commit 3fb22d781dee9b445918726ac70ab53834e032cf by tangwenqing feat: SSEP: 进堆场添加用专家经验生成的路径，拼接替换原始参考线。
	ssep/common/utils/reference_line_stitcher.cc
	ssep/common/utils/reference_line_stitcher.h
	ssep/data_structures/path.h
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.cc
	ssep/coarse_search/motion_primitive_sampler/yard_entry_reference_path_generator.h
	ssep/test/ssep_planner_test.cc
	ssep/data_structures/path.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit c3a7a1c91bcb80596ed9371ab46d60af714681a3 by tangwenqing feat: SSEP: 进堆场跑通无搜索规划
	ssep/common/utils/reference_line_stitcher.cc
	ssep/ssep_planner.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/data_structures/path.cc
	ssep/data_structures/path.h
Commit 943dbcf65482786bf0ae78eea7f6d02eca589b85 by tangwenqing fix: keb task 修复路径被og点阻挡时轨迹异常的问题
	tasks/plan/keb_path_optimize_task.hpp
	tasks/plan/keb_path_optimize_task.cpp
	ssep/common/utils/path_utils.cc
	ssep/common/utils/path_utils.h
Commit d46b28a4575ad474b7b4fc9acf007636214fdaf6 by tangwenqing fix: 修复keb task碰撞检测使用路径长度过长的问题
	ssep/data_structures/path.h
	tasks/plan/keb_path_optimize_task.cpp
	ssep/data_structures/path.cc
Commit 55d35d7507cd3c3d289168dac7882b5db37d7bfb by tangwenqing fix: SSEP: 修复无搜索模式可能崩溃的问题
	ssep/scenarios/scenario_planner_factory.h
	ssep/common/utils/reference_line_stitcher.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 40be2a376bfdeb10ac8ac64ea311727ec8779caf by tangwenqing fix: SSEP: 提升新版进堆场搜索的成功率
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/common/utils/path_utils.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/common/utils/path_utils.h
Commit 1bdae8ae7d8ca3cd49b96dab5d54998d211a6f8c by wuyanjun110 fix: SSEP: 提升新版进堆场搜索的成功率
	ssep/common/utils/path_utils.cc
	ssep/common/utils/path_utils.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 8f68653b9d125843b6051233fc17eaaff5b7d41b by tangwenqing feat: 普通卡车多段倒车入库时适配拉直点逻辑
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
	ssep/scenarios/truck_multi_segment_parking_planner.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/scenarios/planner_utils.cc
	ssep/scenarios/planner_utils.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 935d321f793e198615189b481385443adda4536a by chenran feat: lka deviation after crane
	data/boundary/road_boundary.cpp
	data/ctrl/lka_start_up.cpp
	hmi/widget/diagnose.cpp
	data/ctrl/lka_start_up.hpp
Commit 2a4a3514b4d6189f853259a0bb514c214ed33381 by tangwenqing fix: SSEP: 修复变道路径可能有碰撞的问题
	ssep/scenarios/tractor_trailer_lane_change_planner.h
Commit fd557192f4bb94e7e7313318315cfd0bd92abbde by wuyanjun110 fix: SSEP: 修复变道路径可能有碰撞的问题
	ssep/scenarios/tractor_trailer_lane_change_planner.h
Commit 5c74f7713ddb7866d189e49484343f797d0ea008 by tangwenqing chore: keb task 增加最大转向角余量
	tasks/plan/keb_path_optimize_task.cpp
Commit 848e7e9667e7e592c8ed63ddffe0a6fe77666f13 by wuyanjun110 chore: keb task 增加最大转向角余量
	tasks/plan/keb_path_optimize_task.cpp
Commit 0ba658ed3f927a6d0b3dee0373a90b1c01086574 by tangwenqing chore: keb实时优化 将转向角余量 提取为配置参数
	data/config/cfg_lat_plan.cpp
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_path_optimize_task.hpp
	data/config/cfg_lat_plan.hpp
Commit 781cd4cf9b7ce57bc5c663fbdca5d7e6b0ce556c by tangwenqing chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹
	ssep/scenarios/tractor_trailer_general_planner.h
Commit 70d37c4b05efead9836daae68422a009780d7c02 by tangwenqing feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_path_optimize_task.hpp
Commit e728ba79f6b5a2662364a9ec29e3b0d0f1cb99e2 by wuyanjun110 feat: 优化overlap s重计算，增加起始和结束点的有效性检查
	data/map/pnc_map/pnc_map_path.cpp
Commit 4759524e88de1ad03ab5db3fd72d4c61c2d1b352 by tangwenqing fix: keb task ssep_end_s_ 赋值错误
	tasks/plan/keb_path_optimize_task.cpp
Commit 4d8e13ea46ae52a342d5c9c904776950f10f37c3 by tangwenqing feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题
	tasks/plan/keb_path_optimize_task.hpp
	tasks/plan/keb_path_optimize_task.cpp
Commit 84511bc52b02c727f9da034c0684d9bdc6f35ac0 by tangwenqing fix: keb task ssep_end_s_ 赋值错误
	tasks/plan/keb_path_optimize_task.cpp
Commit 270076048affadcc2efda531703271bf59bdf934 by tangwenqing fix: 解决西联IMV进停车位搜索过慢的问题
	ssep/scenarios/imv_enter_station_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 4c5d87ca4d81f80b640ece8b32e0037bd9d2907a by tangwenqing fix: 集卡搜索时滤除起点和终点车挂内部的og点
	ssep/maps/ogm_builder.h
	ssep/ssep_planner.cc
	ssep/maps/ogm_builder.cc
Commit bb8ff43e7286899e0c671a7550fb06a6b551c13d by wuyanjun110 feat: 添加状态机切换时间参数并优化相关逻辑
	data/config/cfg_safe_const.cpp
	data/vehicle/spreader_protect.cpp
	data/config/cfg_safe_const.hpp
Commit 9276281ddd0799eed3e58febe0b78a605e0fc179 by wuyanjun110 feat: 添加根据堆场内的车道名称扩展安全阈值
	sink/ros_sink_pnc_status.cpp
Commit b47fe07fc71e78f3f8434b8744c9dc847d63eba1 by wuyanjun110 chore: keb实时优化 将转向角余量 提取为配置参数
	tasks/plan/keb_path_optimize_task.hpp
	tasks/plan/keb_path_optimize_task.cpp
	data/config/cfg_lat_plan.cpp
	data/config/cfg_lat_plan.hpp
Commit a02846152de185a088c757d3986eb904e1a4e17a by wuyanjun110 chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹
	ssep/scenarios/tractor_trailer_general_planner.h
Commit bd3a0cd23b9935933c797ca80fb7e28c8dbabe97 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
	data/constrain/block_data.cpp
Commit 489a31b19ece7734f23e580bd9daf4025f81ad72 by wuyanjun110 feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算
	plan/prepare/prepare_status.cpp
	plan/prepare/prepare_status.hpp
Commit e47c3c07b6831723cd6fcec51d822e6a93b9c686 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
	data/obstacle/obstacle.cpp
	plan/prepare/prepare_objs.cpp
Commit b1675dfe8c52a2bf186d6788cc254920710cd40d by wuyanjun110 fix: 解决西联IMV进停车位搜索过慢的问题
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/scenarios/imv_enter_station_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit c3c9fddb6caedd6c3f73c42b6fc14e9e6bb61998 by wuyanjun110 fix: 集卡搜索时滤除起点和终点车挂内部的og点
	ssep/maps/ogm_builder.cc
	ssep/maps/ogm_builder.h
	ssep/ssep_planner.cc
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
	data/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
	plan/prepare/prepare_objs.cpp
	data/obstacle/obstacle.cpp
Commit 57789ddab86ba54d6cfba72af2518081b6b5d509 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
	data/config/cfg_safe_const.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
	data/config/cfg_safe_const.cpp
Commit bc071e41f2a92b8798ca568a10d6d7ebe6a4cb02 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
	tasks/deciders/long_decider/constrain_decider.cpp
	data/plan/path_direction_data.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
	data/plan/path_direction_data.cpp
	tasks/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
	ssep/maps/ogm_builder.h
	ssep/maps/ogm_builder.cc
	ssep/ssep_planner.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
	ssep/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
	tasks/plan/keb_path_optimize_task.cpp
	ssep/common/utils/path_utils.cc
	ssep/common/utils/path_utils.h
	tasks/plan/keb_path_optimize_task.hpp
Commit 9da2dbb539fbd9991221ecec7ed1b5ab5dcf5756 by wuyanjun110 feat: 杨浦 B003 B004适配
	data/ssep/into_yard_junction_ec.cpp
Commit a55b1d4a04856902abcc98cb26e679a7322b4031 by tangwenqing chore: SSEP: 自卸车进出散货堆场搜索使用软约束
	ssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit c184036c04cbd54cbf2d38a50522c261f87a91bc by chenran feat: yard name verification.
	data/ctrl/lka_start_up.cpp
Commit 678aa94ed48bdae8222f00caa2159d3a4f765e93 by wuyanjun110 fix: 调整对拖车姿态有效性的角度判断阈值
	data/plan/path_direction_data.cpp
Commit 14b080ef741e8924a6badc3e3895b8fcadb83c99 by wuyanjun110 fix: 调整对拖车姿态有效性的角度判断阈值
	data/plan/path_direction_data.cpp
Commit 7d345fe068388c5cfcafa2b5146f647344bd4239 by tangwenqing fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 6150b7d1445ee5be72794b493d46d708742e1b2f by wuyanjun110 feat: 增加对车道有效性的检查，确保车道ID在实际车道ID列表中
	plan/prepare/prepare_objs.cpp
Commit f73f14c1abecb7d72ead16573ba2801d4688ec3b by wuyanjun110 chore: SSEP: 自卸车进出散货堆场搜索使用软约束
	ssep/coarse_search/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
Commit 83543a38fe864a91b8574d0637c45ef2d8533bfe by wuyanjun110 fix: SSEP: 修复集卡进堆场S弯轨迹不合理，及自适应拉直距离失效的问题
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit cf69665bcc958500349e2fa758f961203e97ac62 by tangwenqing fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。
	ssep/common/utils/path_utils.cc
Commit 989199e3abcea69d8f2c3a5b02eea5fed4b5f2e5 by wuyanjun110 fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围
	data/map/pnc_map/pnc_map_path.cpp
Commit 219b35a8cff152c0d01f914ba16d1ee88c9c26dc by tangwenqing feat: Add Keb-Lane-Follow Task
	ssep/ssep_planner.cc
	data/config/cfg_stage.hpp
	data/config/cfg_stage.cpp
	tasks/plan/keb_lane_follow_path_task.cpp
	tasks/plan/keb_lane_follow_path_task.hpp
	tasks/task_factory.cpp
Commit fb9f4cef0ec26de180bbc86b8707a4d98ffa9aaf by tangwenqing fix: SSEP: 西联进充电桩压线问题修复
	ssep/scenarios/imv_enter_station_planner.h
	ssep/common/utils/path_utils.cc
Commit 6f21bc5a6c0ac05e0ab717fe7bad09c38ee1a2f0 by tangwenqing feat: SSEP:  普通卡车搜索增加“final_straight_distance”参数配置项
	ssep/scenarios/truck_general_planner.h
	ssep/scenarios/scenario_planner_factory.h
Commit b53f0a1cd6255d70b5f57042afbb4c5b5e5a1cd5 by tangwenqing feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/scenarios/truck_accurate_reversing_planner.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit d7b38ac92fd4feea0f081ba7b8d1bdf9ef6d74c4 by wuyanjun110 feat:杨浦低贝位适配
	data/ssep/into_yard_junction_ec.cpp
Commit 0ac0111c82d8bb79499fdd3ea8f5ae49ea41a38d by tangwenqing fix: SSEP: 修复苏溪IMV出停车位可能绕大圈的问题
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/scenarios/imv_exit_parking_spot_planner.h
Commit 98ceb2ee4254cb399a4a3bb1901cc13987cfbbc8 by tangwenqing fix: SSEP: 解决普通卡车多段倒车进卸料点路径可能跳变的问题
	ssep/scenarios/truck_multi_segment_parking_planner.h
Commit 78b03829ca619e234632e08ef4a2fec031ee502a by wuyanjun110 feat:合并ssep更改
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/scenarios/planner_utils.h
	ssep/common/utils/path_utils.cc
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/scenarios/truck_multi_segment_parking_planner.h
	ssep/ssep_planner.cc
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	ssep/scenarios/truck_accurate_reversing_planner.cc
	ssep/scenarios/truck_general_planner.h
	ssep/scenarios/imv_enter_station_planner.h
	ssep/scenarios/scenario_planner_factory.h
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/scenarios/imv_exit_parking_spot_planner.h
	ssep/scenarios/planner_utils.cc
Commit cd4d9dd354b21917814376879733624be88f3dbd by tangwenqing fix: SSEP: 精确倒车时不使用历史路径
	ssep/ssep_planner.cc
Commit 0790824356c822d73ea7452ea501676bdf42445f by wuyanjun110 feat: 添加车辆姿态设置功能并更新测量和角度显示逻辑
	hmi/common/pnc_graphics_view.cpp
	hmi/common/pnc_graphics_view.hpp
	hmi/widget/pnc_mat.cpp
	hmi/widget/replayer_pnc_mat.cpp
Commit f2e8e1e7d82d9f4cfa9d95d99fac30edcd26d961 by tangwenqing fix: SSEP: 修复普通卡车搜索拉直段失效的问题
	ssep/scenarios/truck_general_planner.h
Commit 2bf315098c6338d37740c7d9754ae76a47e91a51 by wuyanjun110 fix: SSEP: 修复普通卡车搜索拉直段失效的问题
	ssep/scenarios/truck_general_planner.h
Commit e77b10f61749b6e9afd05a75fdfafd11a38f7b37 by wuyanjun110 feat:适配友谊关进停车的拉正距离
	data/ssep/forward_ec.cpp
	data/ssep/forward_ec.hpp
Commit e6b92869883057da0681b03f5113122025ef0983 by chenran fix: disable default LKA deviation.
	data/ctrl/lka_start_up.cpp
Commit 882808fccb8e2b57410240ce996fd01f871924aa by tangwenqing feat: SSEP: 增加离线轨迹库功能（包括轨迹库生成与可视化）
	ssep/offboard/generate_path_repository/generate_path_repository_cli.cc
	ssep/offboard/generate_path_repository/CMakeLists.txt
	ssep/offboard/servers/CMakeLists.txt
	ssep/CMakeLists.txt
	ssep/protos/state_match_condition.proto
	ssep/protos/path_repository.proto
	ssep/offboard/servers/path_repository_vis_server.cc
	ssep/offboard/servers/path_repository_vis_html_template.h
	ssep/offboard/servers/path_repository_vis_html_template.cc
Commit fa455161c9a61091ea7b4aa829a89ce4ac9fed36 by chenran fix: lka deviation bug
	data/ctrl/lka_start_up.hpp
	data/ctrl/lka_start_up.cpp
Commit 86499e111872b1d3d1c5d563a19973150c47adc5 by chenran feat: add lbfgs prevous version.
	thirdparty/lbfgs/lbfgs.hpp
Commit c40f17e705fcd22d588f509e223b97afd6f94701 by tangwenqing feat: SSEP: 接入离线轨迹库
	ssep/ssep_planner.h
	ssep/data_structures/path_repository_manager.h
	ssep/protos/path_repository.proto
	ssep/offboard/generate_path_repository/generate_path_repository_cli.cc
	ssep/data_structures/path_repository_manager.cc
	ssep/data_structures/state_match_condition.cc
	ssep/data_structures/state_match_condition.h
	ssep/ssep_planner.cc
Commit a08b0d9eda7192187c98b20f94d44a8b82adff81 by wuyanjun110 feat: 苏溪调箱门场景适配
	data/ssep/normal_junction_ec.cpp
Commit 1613b12c1f873e85b5db4546d718acc3f000a041 by wuyanjun110 feat: 添加无效侧通行点检查和虚拟障碍物生成逻辑
	data/obstacle/ogm.cpp
	data/obstacle/ogm.hpp
	plan/prepare/prepare_ogm.cpp
	data/boundary/driving_corridor.cpp
Commit fb8de5cde2aa0863bec4b2fcbdcbd5efea6a3e07 by wuyanjun110 refactor:优化 停止线所属junction的判断逻辑
	data/map/pnc_map/pnc_map_path.cpp
Commit 73643888aac8b5f7b0a28de66d6b9dae5c35014e by tangwenqing fix: SSEP: 修复苏溪集卡进停车位可能停歪的问题
	ssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 6561aae642b08a5f52f0e42603e97e44a5bb95b7 by wuyanjun110 feat:合并ssep更改
	ssep/data_structures/path_repository_manager.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/ssep_planner.cc
	ssep/data_structures/state_match_condition.cc
	ssep/offboard/servers/path_repository_vis_html_template.cc
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
	ssep/offboard/servers/CMakeLists.txt
	ssep/protos/path_repository.proto
	ssep/offboard/generate_path_repository/generate_path_repository_cli.cc
	ssep/ssep_planner.h
	ssep/CMakeLists.txt
	ssep/offboard/servers/path_repository_vis_html_template.h
	ssep/offboard/generate_path_repository/CMakeLists.txt
	ssep/data_structures/path_repository_manager.cc
	ssep/data_structures/state_match_condition.h
	ssep/offboard/servers/path_repository_vis_server.cc
	ssep/protos/state_match_condition.proto
	ssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
Commit d75a79ff291255b2073946e678d0ef4e69c69c4a by tangwenqing fix: SSEP: 修复IMV掉头进堆场轨迹绕圈问题，提升搜索成功率，加快搜索速度
	ssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
Commit 71318654777a1d34b5e432c05012dcba1defbcf9 by tangwenqing feat:  SSEP: 完善离线轨迹框架，IMV进充电桩场景跑通离线轨迹全流程
	ssep/data_structures/path_repository_manager.cc
	ssep/CMakeLists.txt
	ssep/offboard/servers/path_repository_vis_html_template.cc
	ssep/protos/scene.proto
	ssep/offboard/generate_path_repository/generate_path_repository_cli.cc
	ssep/protos/path_repository.proto
	ssep/offboard/scene_replay/CMakeLists.txt
	data/config/cfg_ssep.cpp
	ssep/offboard/servers/path_repository_vis_server.cc
	ssep/offboard/ssep_planner_wrapper.cc
	data/ssep/ssep_activation.cpp
	ssep/ssep_planner.cc
	data/config/cfg_ssep.hpp
	ssep/common/utils/map_element_utils.hpp
	ssep/protos/operation_mode.proto
	ssep/data_structures/path_repository_manager.h
Commit 2c034f89e04c6b63b9a9b3325f0114aa3d23c67c by tangwenqing chore: SSEP: 精准倒车时，搜索器采用更严格的曲率上限，确保优化完不超限
	ssep/scenarios/truck_accurate_reversing_planner.cc
Commit 0fee299f74d88e995f954a18306383d3d5d47e65 by wuyanjun110 fix:终点低贝位时， 然后场桥低贝位不重新搜索的bug
	tasks/deciders/other_decider/replan_decider.cpp
Commit e5b729ff7d0611bdbb69ddcee59054dda48c439b by chenran fix: filter wbca path by cost
	data/config/cfg_lat_plan.cpp
	data/config/cfg_lat_plan.hpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	hmi/widget/diagnose.cpp
Commit 6dcf15351db344dcd55fc9aab5b4752d79ece05c by chenran fix: add switch for lbfgs to lbfgs_new
	data/config/cfg_lat_plan.hpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	thirdparty/lbfgs/lbfgs.hpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit 4b8fd569d6e9e0b2fce5f82fcc1492a931254c13 by chenran fix: using new l_bfgs
	data/config/cfg_lat_plan.cpp
Commit 43b5f43e081e3fcb19611dabd32690bbb038433f by chenran fix: cost filter for imv and truck
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
Commit 0afabfef75fe9e5647647d2c76ff30a5a8462dcf by chenran fix: activate wbca smooth mode in align fsm.
	tasks/plan/path_optimization_task.cpp
Commit dd3cd4ffa16307ef8ec1e14b7c9d54612569cec7 by wuyanjun110 feat:直道地图包络构建的优化
	data/map/envelop/map_envelop.cpp
Commit 0cb819d21bf799329879a48cde4521ad3d9ee993 by wuyanjun110 feat: （动态搜索的box框),优化生成平行框的距离计算逻辑
	data/plan/ssep_data.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 0cea97bb59690e21b8c78f6f57dba06bc21bb1f5 by wuyanjun110 fix: 更新DrawObject函数中的颜色值注释
	hmi/draw/draw_map.cpp
Commit 2d88b884ef5a90f28725b9ee8a903052746dae20 by chenran fix: filter wbca cost without collision cost.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/imv_wbca_manager.cpp
Commit 16c1b08fd90dfbe96d6c19eee677e0c277106059 by chenran fix: LKA deviation for out_yard
	data/ctrl/lka_start_up.cpp
Commit 419575f0bc72c58284e15eeb174aeac24f3654e1 by tangwenqing Refactor: 重构keb task，提高可读性，梳理参数并与PlanFrame解耦，支持后续构建离线仿真调试。
	tasks/plan/keb_path_optimize_task.hpp
	algorithm/plan/keb_optimizer.hpp
	ssep/data_structures/path_utils.h
	data/common/path.hpp
	tasks/plan/keb_path_optimize_task.cpp
	algorithm/plan/keb_optimizer.cpp
Commit f0150e3d3ab34ee7357c0d80af6d509b2deb1cd4 by tangwenqing feat: Keb-Task: task与algorithm解耦，进一步梳理keb algorithm的模块输入输出。replayer增加KebScene数据提取功能。
	tasks/plan/keb_path_optimize_task.cpp
	hmi/replayer_hmi.hpp
	replayer/replayer_data_process/replayer_data_extraction.cpp
	replayer/logic.hpp
	tasks/plan/keb_utils.cpp
	replayer/logic.cpp
	ssep/CMakeLists.txt
	tasks/plan/keb_utils.hpp
	tasks/plan/keb_path_optimize_task.hpp
	data/common/path_point.cpp
	replayer/replayer_data_process/replayer_data_extraction.hpp
	proto/data_path.proto
	ssep/maps/ogm.h
	CMakeLists.txt
	data/common/path_point.hpp
	ssep/protos/ogm.proto
	replayer/main.cpp
	algorithm/plan/keb_optimizer.cpp
	data/common/path.hpp
	proto/keb_scene.proto
	data/common/path.cpp
	ssep/maps/ogm.cc
	proto/CMakeLists.txt
	hmi/replayer_hmi.cpp
	ssep/maps/ogm_builder.cc
	algorithm/plan/keb_optimizer.hpp
Commit b908866bb5fc622e0b5c38abb054065846fac533 by wuyanjun110 feat:调整换向缩小安全距离的阈值
	data/config/cfg_long_plan.cpp
Commit 9166b6f5cf02de41c7d254793596e93b4095b8d7 by wuyanjun110 fix:修复变道的约束
	data/ssep/ex_lane_change_ec.cpp
Commit 03835a6edefc7751fa29c0afa94c963e61ef852e by wuyanjun110 fix:修复变道的约束
	data/ssep/ex_lane_change_ec.cpp
Commit 59a8b4953c0034a76e4621e903299f15a73ee06e by wuyanjun110 feat: 增加ALIGN命令相关错误类型并更新状态处理逻辑
	hmi/widget/command.cpp
	data/vehicle/vehicle_status.hpp
	plan/prepare/prepare_status.cpp
	data/vehicle/vehicle_status.cpp
	data/app/fsm/task_command_type.cpp
	data/app/fsm/task_command_type.hpp
	data/app/cmd/cmd_align.cpp
Commit 485ee6c90f4b6efd1d8e6ac773ad61e1f3b27331 by chenran fix: cloud areas avoidence.
	data/obstacle/ogm.cpp
	.codex
Commit f8e0a36c66f5040d93ab15f3eea8eedecc5d9f92 by tangwenqing chore: keb-task: 完整跑通keb-scene extranction及可视化全流程
	ssep/maps/ogm.cc
	replayer/replayer_data_process/replayer_data_extraction.cpp
	offboard/keb_vis_server/CMakeLists.txt
	algorithm/plan/keb_optimizer.cpp
	offboard/keb_vis_server/keb_vis_server.cc
	replayer/replayer_data_process/replayer_data_process.cpp
	offboard/keb_vis_server/keb_vis_html_template.cc
	ssep/protos/ogm.proto
	ssep/maps/ogm.h
	tasks/plan/keb_path_optimize_task.cpp
	data/plan/start_point_data.hpp
	offboard/keb_vis_server/keb_vis_html_template.h
Commit a2dea387ad7cf18e899b5e4fad9f818ccfea8fae by wuyanjun110 refactor:朝海侧，右转横二路，边界优化
	data/ssep/normal_junction_ec.cpp
Commit ec4d35f41324aa76809ec6751edbe77100865758 by wuyanjun110 refactor:极限变道约束优化
	data/ssep/ex_lane_change_ec.cpp
Commit 09c794cf8bb7f149f81d16444d7530994c976e9d by wuyanjun110 refactor:朝海侧，右转横二路，边界优化
	data/ssep/normal_junction_ec.cpp
Commit 730037190ab095ff3004718347429c4e827549c3 by wuyanjun110 refactor:极限变道约束优化
	data/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
	data/config/cfg_long_plan.hpp
	data/plan/guide_line.cpp
	data/config/cfg_long_plan.cpp
	data/plan/guide_line_base.hpp
Commit 52abfb30b6c58693392fbab9c7aa288e231a3901 by tangwenqing feat: Keb-Task: 完整跑通keb调试数据提取、离线仿真、可视化。
	ssep/keb_optimizer/keb_problem.h
	offboard/keb_path_opt_cli/keb_path_opt_cli.cc
	data/config/cfg_lat_plan.hpp
	data/ssep/field_junction_ec.hpp
	proto/keb_scene.proto
	replayer/replayer_data_process/replayer_data_process.cpp
	tasks/plan/keb_utils.cpp
	data/ssep/ssep_ec.hpp
	ssep/keb_optimizer/cost_features/dynamic_constraint.h
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
	CMakeLists.txt
	replayer/replayer_data_process/replayer_data_extraction.cpp
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	ssep/keb_optimizer/keb_problem.cc
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_lane_follow_path_task.cpp
	offboard/keb_vis_server/keb_vis_html_template.cc
Commit 6862fa7baf3e2ea29901804dc68811836d0a2ec5 by wuyanjun110 refactor: openspace中的参考线为pnc引导线
	ssep/scenarios/scenario_planner_factory.h
Commit 872795a1a0f295bc2a654f87ac3d581f7d5ed224 by wuyanjun110 fix:imv下码头搜索失败的bug
	data/ssep/open_space_ec.cpp
Commit a8a77d0c941af4a95bc3670a81a607e4ab3ed093 by tangwenqing fix: 修复imv普通搜索参考线错误的问题
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
	ssep/scenarios/scenario_planner_factory.h
	ssep/scenarios/imv_general_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 1bfa73de87f15d05a5d6a4ce6b7567405c3a65d9 by tangwenqing fix: 修复imv普通搜索参考线错误的问题
	ssep/scenarios/imv_general_planner.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
	ssep/scenarios/scenario_planner_factory.h
	ssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
Commit 52b5cdfbedb852982b4aee273b9ec123661e2492 by wuyanjun110 fix:修复反向出停车位的bug
	data/other/flow_control.cpp
Commit 573112a5fff58141b971f584de3609204f935a3f by wuyanjun110 fix:修复停止线绑定juntion的bug
	data/map/pnc_map/pnc_map_path.cpp
Commit ebbb633c102e5c17cf27904916b01b96810d114e by wuyanjun110 refactor:优化场桥转场判断
	plan/prepare/prepare_objs.cpp
	data/constrain/block_data.cpp
Commit 15e9e4cee79dce43e032ac44ce5a5ee6b43a671e by wuyanjun110 refctor:优化转场场桥box的使用
	data/plan/predict_path.cpp
	data/ssep/into_yard_junction_ec.cpp
Commit 8ccf5f548cd0e4131c1b82954c2adecdac06c3e2 by tangwenqing fix: SSEP: 提升太阳纸业自卸车出堆场成功率
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit 480404c57f2a071947cc17402c0420e4c885f35a by chenran fix: pnc_map splitting error.
	data/map/pnc_map/pnc_map.cpp
Commit cb4d9f128e3c5f9691bbeb42c422b23711f7aa61 by tangwenqing feat: Keb-task: 碰撞检测使用dual-layer双层检测。同步更新仿真与可视化
	ssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h
	offboard/keb_path_opt_cli/keb_path_opt_cli.cc
	ssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
	algorithm/plan/keb_optimizer.hpp
	proto/keb_scene.proto
	ssep/protos/params.proto
	offboard/keb_vis_server/CMakeLists.txt
	replayer/replayer_data_process/replayer_data_extraction.cpp
	ssep/maps/ogm.h
	ssep/param_loader/param.h
	ssep/keb_optimizer/keb_problem.h
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	algorithm/plan/keb_optimizer.cpp
	ssep/keb_optimizer/keb_problem.cc
	tasks/plan/keb_utils.hpp
	tasks/plan/keb_utils.cpp
	ssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.h
	tasks/plan/keb_path_optimize_task.cpp
	ssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
	offboard/keb_vis_server/keb_vis_html_template.cc
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
Commit 78cecf1ba9ad4a0ecc14fb30756722d7d294ec61 by tangwenqing chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑
	ssep/ssep_planner.cc
	ssep/scenarios/stitching_replanner.h
Commit c3744d5c2226e5ec04a54249deca78e4abaa48d9 by tangwenqing chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/ssep_planner.cc
Commit a37db28239f7ff646e2cfd4741956d0931f16012 by wuyanjun110 chore: SSEP: 集卡多段倒车场景，Replan时加入最后一段拉直逻辑
	ssep/ssep_planner.cc
	ssep/scenarios/stitching_replanner.h
Commit c056957f24f960655444350738b1f87cfd43dfee by wuyanjun110 chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/ssep_planner.cc
Commit 6689b96da152ff775738a4d8549f63c3a4006ef5 by wuyanjun110 fix: SSEP: 提升太阳纸业自卸车出堆场成功率
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/scenarios/truck_bulk_yark_in_out_planner.cc
Commit bc123663a2b96f1de8212916ac10b2311921b2ea by wuyanjun110 fix:极限变道不replan的bug
	tasks/deciders/other_decider/replan_decider.cpp
	tasks/deciders/search_decider/ex_lane_change_search_decider.cpp
Commit 03c0657ce15b2d36b9b7db1be30a799619f63c7b by wuyanjun110 fix:极限变道不replan的bug
	tasks/deciders/search_decider/ex_lane_change_search_decider.cpp
	tasks/deciders/other_decider/replan_decider.cpp
Commit da89721cf51cc043236212892929ab5f695057cd by wuyanjun110 fix: 优化SmoothTask执行逻辑，增加对特定条件的处理
	tasks/plan/smooth_task.cpp
Commit 9fd0e87b9539412176f5438b4cf8fa2c4353941a by tangwenqing chore: SSEP: 解决集卡多段倒车可能绕圈的问题
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 8e49862c79f39612bfc375ccd4713261e70a0418 by wuyanjun110 chore: SSEP: 解决集卡多段倒车可能绕圈的问题
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit d666a45ca3767b4b91105fb1fb0f7d32135b68cf by wuyanjun110 refactor:优化小地图绘制时间过长的问题
	hmi/widget/map.cpp
	hmi/common/image_viewer.cpp
	hmi/widget/replayer_map.hpp
	hmi/widget/map.hpp
	hmi/common/image_viewer.hpp
	hmi/widget/replayer_map.cpp
Commit a37d003f3d78285b1caa441cbe8d88a4cb213a04 by wuyanjun110 feat: 添加点云底图加载功能，支持异步加载和清除操作
	hmi/replayer_hmi.cpp
	hmi/draw/draw_map.cpp
	hmi/draw/draw_map.hpp
	hmi/node_hmi.cpp
Commit 4276d18dd2fdd47232479f7a347a05597563a7cc by wuyanjun110 feat: 添加虚拟障碍物长度限制，优化创建虚拟障碍物的性能
	plan/prepare/prepare_ogm.cpp
	hmi/common/pnc_graphics_view.cpp
Commit 7f9930f514e94f399ae91826d94469b8c4543ac7 by tangwenqing fix: SSEP: 修复多段倒车路径异常问题
	ssep/ssep_planner.cc
Commit 37980ff352590504416c64de985244f7000d8da5 by tangwenqing feat: keb实时优化 - 双层车体碰撞模型通过离线测试
	ssep/keb_optimizer/cost_features/dual_layer_disk_collision_cost.h
	ssep/keb_optimizer/cost_features/dual_layer_trailer_disk_collision_cost.h
	ssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
	ssep/param_loader/param.h
	tasks/plan/keb_path_optimize_task.cpp
	ssep/keb_optimizer/keb_problem.cc
	replayer/replayer_data_process/replayer_data_extraction.cpp
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	offboard/keb_vis_server/keb_vis_html_template.cc
	CMakeLists.txt
	ssep/protos/params.proto
	tasks/plan/keb_lane_follow_path_task.cpp
	ssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
	tasks/plan/keb_utils.cpp
	ssep/keb_optimizer/keb_problem.h
Commit 8d0a9328235149cea3ae87be7d21efde5c8a236a by tangwenqing feat: keb-task 仿真工具增加场景扩展功能与基于场景扩展的闭环仿真
	offboard/keb_path_opt_cli/closed_loop_utils.hpp
	offboard/keb_path_opt_cli/keb_scene_converter.cc
	offboard/keb_path_opt_cli/keb_path_opt_cli.cc
	offboard/keb_path_opt_cli/keb_scene_converter.hpp
	offboard/keb_path_opt_cli/keb_simulator.cc
	offboard/keb_path_opt_cli/keb_simulator.hpp
	offboard/keb_path_opt_cli/closed_loop_utils.cc
	CMakeLists.txt
Commit eabb10afdc35e185d27771aac7ba24bd61889764 by tangwenqing fix: SSEP: 修复自卸车进卸料区路径有点斜的问题
	ssep/scenarios/truck_multi_segment_parking_planner.h
	ssep/scenarios/stitching_replanner.h
Commit 64ef83d02cb4ee10b6552d567e1250eeeb5ced6d by chenran fix: fiter cost_beta
	algorithm/wbca/wbca_manager.cpp
Commit 28b808307c8011970b2cdff7fa66961de6217668 by chenran feat: trust-region solver based WBCA
	algorithm/wbca/path_optimization/path_optimization.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/car_path_optimization.cpp
	algorithm/wbca/path_optimization/path_optimization.hpp
	algorithm/wbca/path_optimization/truck_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/config/cfg_lat_plan.hpp
	thirdparty/trust-region/truncated_cg_trust_region.hpp
Commit 8ac969a8781279ff5844967394890d8214fff0a7 by chenran fix: max_ref_len 60
	algorithm/wbca/wbca_manager.cpp
	data/config/cfg_lat_plan.cpp
Commit 8667ab96d09a1370c69066ea1ffe91c989e814f5 by tangwenqing feat: Keb-Simulation: 3D可视化
	offboard/keb_vis_server/keb_vis_html_template.cc
Commit d71f84f7a302a3f5eceb0fcf5b867f77b33e6435 by tangwenqing fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题
	ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
Commit 819284d803105345130b63c9b6bd545af273446f by wuyanjun110 feat:fsm interface 里面添加 开始对准是终点距离的接口
	data/app/fsm/task_motion_fsm.cpp
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
	data/app/fsm_interface.hpp
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.hpp
	data/app/fsm/task_fsm/task_fsm.hpp
	data/app/fsm_interface.cpp
	data/app/fsm/task_motion_fsm.hpp
Commit 8c45894813ba6649234716d03a0f8db3819c13fd by wuyanjun110 fix:align done 情况下还可以继续走的bug
	data/app/fsm/motion_fsm/motion_fsm.cpp
Commit 1103882d593a0c4891581b5d3ce213d8c472bbf4 by wuyanjun110 fix:停车原因赋值错误的bug
	plan/prepare/prepare_status.cpp
	data/app/fsm/task_command_type.hpp
	plan/prepare/module.cpp
	hmi/widget/command.cpp
	data/app/cmd/cmd_remote_ctrl.cpp
	data/app/fsm/task_command_type.cpp
	data/app/cmd/cmd_align.cpp
Commit 711ae84b63603a37fd75db06de659795e77678fa by wuyanjun110 feat:合并ssep
	ssep/maps/ogm.h
	ssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
	ssep/maps/ogm.cc
	ssep/protos/ogm.proto
	ssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
	ssep/offboard/scene_replay/CMakeLists.txt
	ssep/common/utils/map_element_utils.hpp
	ssep/protos/path_repository.proto
	ssep/protos/params.proto
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	ssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
	ssep/keb_optimizer/keb_problem.cc
	ssep/scenarios/truck_multi_segment_parking_planner.h
	ssep/maps/ogm_builder.cc
	ssep/data_structures/path_repository_manager.h
	ssep/offboard/servers/path_repository_vis_server.cc
	ssep/ssep_planner.cc
	ssep/keb_optimizer/keb_problem.h
	ssep/offboard/servers/path_repository_vis_html_template.cc
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
	ssep/CMakeLists.txt
	ssep/protos/operation_mode.proto
	ssep/data_structures/path_repository_manager.cc
	ssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
	ssep/data_structures/path_utils.h
	ssep/scenarios/truck_accurate_reversing_planner.cc
	ssep/scenarios/stitching_replanner.h
	ssep/keb_optimizer/cost_features/dynamic_constraint.h
	ssep/offboard/ssep_planner_wrapper.cc
	ssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
	ssep/offboard/generate_path_repository/generate_path_repository_cli.cc
	ssep/protos/scene.proto
	ssep/param_loader/param.h
Commit 4b4d21aeba2a5465e2532f017b9f5725d703037a by tangwenqing fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题
	ssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
	ssep/scenarios/truck_multi_segment_parking_planner.h
Commit 8ba0710732b2cc129b93b855484552d35aac311c by wuyanjun110 feat: 添加对值阈值和条件，优化对准决策逻辑
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
	data/config/cfg_env_const.hpp
	data/config/cfg_env_const.cpp
	data/config/cfg_safe_const.cpp
	plan/prepare/prepare_status.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 28c58b5889385d77f87b0a147fa930b0cf793cc9 by tangwenqing feat: SSEP-offboard: 添加离线路径绘制工具
	ssep/offboard/path_drawing_tool/path_drawing_html_template.cc
	ssep/offboard/path_drawing_tool/path_drawing_html_template.h
	ssep/offboard/path_drawing_tool/CMakeLists.txt
	ssep/offboard/path_drawing_tool/hermite_path_generator.h
	ssep/offboard/path_drawing_tool/hermite_path_generator.cc
	ssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
Commit b9301900bfe01801aee8ab789b9f37e9ee58fea1 by wuyanjun110 fix: 添加路径点数量检查，确保至少有两个点以创建路径
	data/map/pnc_map/pnc_map_path.cpp
Commit 333b3ebc6cdbb5cbdcbebecd0b9959bb8cf63045 by tangwenqing feat: SSEP-offboard: 离线路径编辑器支持二次编辑、增加路径复制、路径平移等功能
	ssep/offboard/path_drawing_tool/path_drawing_html_template.cc
	ssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
Commit 19d43f16047fee154f24f14a80002e88dcf82d7f by tangwenqing feat: SSEP: 增加跨运车抓车场景
	ssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.h
	ssep/common/utils/scene_frame_visualization.cc
	ssep/data_structures/ssep_scenario_type.hpp
	ssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
	ssep/protos/ssep_scenario_type.proto
	ssep/scenarios/straddle_carrier_pick_vehicle_planner.h
	ssep/scenarios/scenario_planner_factory.h
Commit 30e6bf3d7c6cfe92ad1634c56514020972a93f0d by tangwenqing chore: SSEP-offboard: 修复bug，增加车体box可视化
	ssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
	ssep/offboard/path_drawing_tool/hermite_path_generator.cc
	ssep/offboard/path_drawing_tool/hermite_path_generator.h
	ssep/offboard/path_drawing_tool/path_drawing_html_template.cc
Commit d30d6299d2fb251ac8aee52fca49b70da0214e63 by wuyanjun110 feat:1.添加耗时显示2.优化绘制界面 map的绘制
	hmi/widget/pnc_mat.cpp
	hmi/draw/draw_map.cpp
	hmi/widget/perf_cost_detail.hpp
	node/logic.hpp
	data/plan_frame.hpp
	node/logic.cpp
	hmi/widget/pnc_mat_shared.cpp
	CMakeLists.txt
	hmi/node_hmi.cpp
	hmi/widget/pnc_mat_shared.hpp
	replayer/logic.cpp
	hmi/node_hmi.hpp
	hmi/replayer_hmi.hpp
	hmi/widget/perf_cost_detail.cpp
	data/hmi_frame.hpp
	hmi/widget/pnc_mat.hpp
	hmi/widget/replayer_pnc_mat.cpp
	hmi/draw/draw_map.hpp
	hmi/replayer_hmi.cpp
	replayer/main.cpp
	replayer/logic.hpp
	hmi/widget/replayer_pnc_mat.hpp
	node/main.cpp
Commit 3421d2be0ff961c640228f3b8f049880a1ea10d6 by wuyanjun110 fix:一次规划，单个车道分段时， 路径冲突判断的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 68dc456383bcadb79d2867775c57e5b14742dae0 by wuyanjun110 refactor: 注释掉不必要的代码，简化判断逻辑
	data/ssep/open_space_ec.cpp
Commit b63375377c7e33d1f9b90bf0e4d35ca8059bdddc by wuyanjun110 refactor:优化ssep passing pt的赋值
	data/ssep/ssep_ec.hpp
	data/ssep/ssep_ec.cpp
Commit e506b961c19a089454f59fe4fe26dcda7e6910d8 by tangwenqing feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程
	algorithm/plan/keb_optimizer.hpp
	proto/keb_scene.proto
	tasks/plan/keb_path_optimize_task.hpp
	tasks/plan/keb_utils.cpp
	replayer/replayer_data_process/replayer_data_extraction.cpp
	tasks/plan/keb_utils.hpp
	offboard/keb_vis_server/keb_vis_html_template.cc
	offboard/keb_path_opt_cli/closed_loop_utils.cc
	tasks/plan/keb_path_optimize_task.cpp
	offboard/keb_path_opt_cli/keb_simulator.cc
	algorithm/plan/keb_optimizer.cpp
Commit 532974338bfb34db8cb80624fa8e6a81ccef32e9 by tangwenqing feat: Keb-Task: OGM构造放入Keb算法内部，防止阻塞主线程
	tasks/plan/keb_path_optimize_task.hpp
	offboard/keb_path_opt_cli/closed_loop_utils.cc
	algorithm/plan/keb_optimizer.hpp
	offboard/keb_path_opt_cli/keb_simulator.cc
	tasks/plan/keb_utils.cpp
	tasks/plan/keb_utils.hpp
	proto/keb_scene.proto
	replayer/replayer_data_process/replayer_data_extraction.cpp
	offboard/keb_vis_server/keb_vis_html_template.cc
	tasks/plan/keb_path_optimize_task.cpp
	algorithm/plan/keb_optimizer.cpp
Commit 42b099371f6e8a99b001977dbb062ad6d7e8d5ad by chenran fix: wbca smooth path is exception in align state
	tasks/plan/path_optimization_task.cpp
Commit 1e376fed0cf72f9d441fd65936a3f32d639e9a5e by 5081703.cr fix: wbca smooth path is exception in align state
	tasks/plan/path_optimization_task.cpp
Commit 28bbba1eee60507ba6de0414eb33da590f7d0b29 by wuyanjun110 feat: 添加性能成本详细信息分组显示，优化绘制面板更新逻辑
	hmi/widget/perf_cost_detail.cpp
	hmi/node_hmi.cpp
Commit 62e19231bf61aa89eb3cdda3e31b9c4b109d844d by wuyanjun110 refactor: 简化pass_posture_的赋值逻辑
	data/ssep/ssep_ec.cpp
Commit 6bc50a6714be053d17ee070e2fe82c5b858df708 by tangwenqing feat: SSEP: 集卡上下码头面根据pass point构建三次曲线参考线
	ssep/scenarios/planner_utils.h
	ssep/scenarios/scenario_planner_factory.h
	ssep/data_structures/pose.h
	ssep/scenarios/planner_utils.cc
	ssep/scenarios/tractor_trailer_general_planner.h
Commit 6d0b3d30c4d7c182792259dc8efb60945ebce0d6 by tangwenqing chore: Keb-task: 重构并适配keb_lane_follow task
	offboard/keb_vis_server/keb_vis_html_template.cc
	tasks/plan/keb_path_optimize_task.cpp
	replayer/replayer_data_process/replayer_data_extraction.cpp
	algorithm/plan/keb_optimizer.cpp
	offboard/keb_path_opt_cli/keb_simulator.cc
	offboard/keb_path_opt_cli/closed_loop_utils.cc
	tasks/plan/keb_lane_follow_path_task.hpp
	algorithm/plan/keb_optimizer.hpp
	proto/keb_scene.proto
	tasks/plan/keb_lane_follow_path_task.cpp
	offboard/keb_path_opt_cli/closed_loop_utils.hpp
Commit a17bb25611f78771eee83b455fdfbc8e51ad2e70 by 5081703.cr fix: straight lane near crane and lock_station
	plan/prepare/prepare_status.cpp
	plan/prepare/prepare_status.hpp
Commit 30f38647c7749669d247e8f727e07ba616917798 by tangwenqing chore: update gitignore
	.gitignore
Commit 61bd292727204c41639f5511192a8efb5a4dfa4c by wuyanjun110 refactor:优化界面耗时
	hmi/widget/diagnose.hpp
	hmi/widget/command.cpp
	hmi/common/chart.hpp
	hmi/common/chart.cpp
	hmi/widget/throttle_chart.hpp
	hmi/widget/command.hpp
	hmi/widget/steer_chart.cpp
	hmi/widget/velocity_chart.cpp
	hmi/widget/velocity_chart.hpp
	hmi/widget/perf_cost_detail.hpp
	hmi/widget/steer_chart.hpp
	hmi/widget/diagnose.cpp
	hmi/widget/brake_chart.cpp
	hmi/widget/perf_cost_detail.cpp
	hmi/widget/brake_chart.hpp
	hmi/widget/throttle_chart.cpp
Commit 791937e15aff1522260893b084824b63772b081e by wuyanjun110 feat:调整9861的跟车距离
	data/constrain/longitude_constrain.hpp
	data/constrain/longitude_constrain.cpp
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
	ssep/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。
	ssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cc
	ssep/offboard/path_drawing_tool/CMakeLists.txt
	ssep/offboard/path_drawing_tool/path_drawing_html_template.cc
	ssep/offboard/path_drawing_tool/path_drawing_tool_main.cc
	ssep/offboard/path_drawing_tool/curvature_auto_adjuster.h
	ssep/offboard/path_drawing_tool/curvature_auto_adjuster.cc
	ssep/offboard/path_drawing_tool/hermite_path_generator.cc
	ssep/offboard/path_drawing_tool/hermite_path_generator.h
Commit 4f2a845f81ce16009d0953d7cd45cdfa02785154 by wuyanjun110 fix:调整不可偏移区域生成的起始和结束位置计算
	data/boundary/road_boundary.cpp
Commit 656cd3b9c04bf95305ef002f48505622048bda1d by wuyanjun110 refactor:优化高度禁停点云的使用的逻辑
	source/ros_source_forbidden_road_og.cpp
Commit ed6f9befc81f6aa9e2b30c1bed32c20ad23cc605 by wuyanjun110 fix:移除后向OGM忽略距离的冗余计算
	plan/prepare/prepare_ogm.cpp
Commit 2485ed4412c0a64a72bf8691c22f067c1da396e6 by wuyanjun110 fix:修复垂直下码头面，box框生成的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 0535e013c34f55e1d20f2fdf92025a54d6f0391c by wuyanjun110 feat: 1. 修正AddJunctionBlockRanges函数中的速度考虑逻辑 2. 调整普通路口弯道禁停的停车位置
	data/constrain/disable_stop_range.cpp
	data/constrain/block_data.cpp
Commit 978c1b3169e28cb1538b2a86699738ad88cff6fc by wuyanjun110 feat:董家口1.关闭进堆场的起点约束2.调整进堆场的终点约束
	data/ssep/into_yard_junction_ec.cpp
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。
	offboard/keb_path_opt_cli/keb_simulator.cc
	proto/keb_scene.proto
	offboard/keb_vis_server/keb_vis_html_template.cc
	replayer/replayer_data_process/replayer_data_extraction.cpp
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	ssep/keb_optimizer/keb_problem.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	tasks/plan/keb_path_optimize_task.cpp
	ssep/keb_optimizer/imv_keb_optimizer.h
	tasks/plan/keb_lane_follow_path_task.hpp
	tasks/plan/keb_path_optimize_task.hpp
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	tasks/plan/keb_lane_follow_path_task.cpp
	tasks/plan/keb_utils.cpp
	algorithm/plan/keb_optimizer.hpp
	replayer/replayer_data_process/replayer_data_process.cpp
	algorithm/plan/keb_optimizer.cpp
	tasks/plan/keb_utils.hpp
	ssep/keb_optimizer/keb_utils.h
	data/plan/ssep_data.hpp
	ssep/keb_optimizer/imv_keb_optimizer.cc
	ssep/data_structures/path.h
	ssep/keb_optimizer/keb_utils.cc
Commit e227d850087b14ab33edb73b94d5b2059cc9149f by wuyanjun110 优化轮廓合并算法并添加测试支持
	CMakeLists.txt
	scripts/run_contour_union_case_test.sh
	data/ssep/online_region_contour_creator.cpp
	data/ssep/online_region_contour_creator_test.cpp
	data/ssep/online_region_contour_creator.hpp
Commit 2da20d45beb0b522882ca22b1dfdec19fc89657f by tangwenqing fix: SSEP: 修复跨运车原地自转未分段的问题。
	ssep/ssep_planner.h
	ssep/ssep_planner.cc
Commit 10463e123097bc52d7217d576b79852a1b792929 by wuyanjun110 feat:进堆场时，关闭区域的校验
	data/ssep/region_builder.cpp
Commit 038e3a9a16edd662ac1889b1454eaab64843c79d by wuyanjun110 feat: 添加合并包络框功能的配置选项
	data/config/cfg_func_sw.hpp
	data/map/envelop/map_envelops.cpp
	data/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>
	data/scenario/scenario_planner_condition.cpp
	data/scenario/scenario_planner_bt.cpp
	data/ssep/normal_junction_ec.cpp
	data/ssep/bridge_junction_ec.cpp
	data/ssep/seaside_junction_ec.cpp
Commit c82d7c75adc8a4ffe39435a20b495fc6ea78afaf by wuyanjun110 fix:洋浦， 修复B004搜索失败的bug
	data/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>
	data/constrain/temporary_stop_data.cpp
	data/constrain/disable_stop_range.cpp
	data/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>
	data/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
	tasks/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
	data/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
	offboard/keb_vis_server/crow/http_parser_merged.h
	offboard/keb_vis_server/crow/http_connection.h
	offboard/keb_vis_server/crow/websocket.h
	algorithm/plan/keb_optimizer.cpp
	ssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
	offboard/keb_vis_server/crow/http_response.h
	tasks/plan/keb_utils.hpp
	offboard/keb_vis_server/crow/returnable.h
	offboard/keb_vis_server/crow/middleware_context.h
	offboard/keb_vis_server/crow/parser.h
	offboard/keb_vis_server/crow/mime_types.h
	offboard/keb_vis_server/crow/socket_acceptors.h
	tasks/plan/keb_lane_follow_path_task.cpp
	ssep/keb_optimizer/keb_problem.h
	offboard/keb_vis_server/crow/exceptions.h
	offboard/keb_vis_server/crow/routing.h
	ssep/keb_optimizer/keb_utils.cc
	data/config/cfg_ssep.cpp
	offboard/keb_vis_server/crow/middlewares/cors.h
	offboard/keb_vis_server/crow/app.h
	offboard/keb_vis_server/crow/compression.h
	offboard/keb_vis_server/crow/http_server.h
	offboard/keb_vis_server/crow/version.h
	offboard/keb_path_opt_cli/keb_simulator.cc
	offboard/keb_vis_server/crow/common.h
	ssep/maps/ogm.h
	offboard/keb_vis_server/crow.h
	offboard/keb_vis_server/crow/socket_adaptors.h
	offboard/keb_vis_server/crow/http_request.h
	offboard/keb_vis_server/crow/settings.h
	offboard/keb_vis_server/crow/mustache.h
	offboard/keb_vis_server/crow/middlewares/session.h
	ssep/data_structures/path.cc
	offboard/keb_path_opt_cli/keb_scene_converter.cc
	offboard/keb_path_opt_cli/keb_simulator.hpp
	offboard/keb_vis_server/crow/multipart_view.h
	CMakeLists.txt
	offboard/keb_path_opt_cli/keb_path_opt_cli.cc
	offboard/keb_vis_server/crow/middlewares/utf-8.h
	ssep/keb_optimizer/keb_problem.cc
	tasks/plan/keb_utils.cpp
	offboard/keb_vis_server/crow/middleware.h
	ssep/keb_optimizer/imv_keb_optimizer.h
	offboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cc
	offboard/keb_vis_server/crow/utility.h
	ssep/keb_optimizer/cost_features/ref_line_cost.h
	offboard/keb_vis_server/crow/multipart.h
	offboard/keb_vis_server/crow/TinySHA1.hpp
	offboard/keb_vis_server/crow/task_timer.h
	ssep/param_loader/param.h
	algorithm/plan/keb_optimizer.hpp
	offboard/keb_vis_server/crow/logging.h
	ssep/keb_optimizer/imv_keb_optimizer.cc
	offboard/keb_path_opt_cli/keb_optimization_debug_visualizer.hpp
	offboard/keb_vis_server/crow/middlewares/cookie_parser.h
	offboard/keb_path_opt_cli/keb_scene_converter.hpp
	offboard/keb_vis_server/crow/json.h
	offboard/keb_vis_server/crow/query_string.h
	offboard/keb_vis_server/crow/ci_map.h
	ssep/maps/ogm.cc
	ssep/keb_optimizer/cost_features/imv_steer_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。
	ssep/scenarios/tractor_trailer_short_distance_planner.h
	ssep/scenarios/scenario_planner_factory.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
	data/obstacle/occupy_grid.hpp
	algorithm/decision/path_turn_type.cpp
	data/semantic/collision_position.hpp
	offboard/keb_path_opt_cli/keb_simulator.cc
	data/semantic/vehicle.cpp
	math/curve2d/curve2d.hpp
	CMakeLists.txt
	data/common/guide_path.cpp
	data/common/path.cpp
	data/common/path.hpp
	algorithm/plan/keb_optimizer.cpp
	data/common/path_point.hpp
	tasks/plan/keb_utils.hpp
	tasks/plan/keb_utils_core.hpp
	tasks/plan/keb_utils.cpp
	tasks/plan/keb_utils_core.cpp
	data/common/path_point.cpp
	offboard/keb_path_opt_cli/CMakeLists.txt
Commit 6b0c4ec35fdc890ca61c9287f53f5ef1aa90eea7 by wuyanjun110 feat: 实现缓冲区停车功能（Buffer Stop）
	data/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.cpp
	data/scenario/scenario_planner_action.cpp
	tasks/deciders/long_decider/constrain_decider.hpp
	data/app/fsm/task_fsm/task_fsm.cpp
	data/vehicle/lock_station_data.hpp
	data/vehicle/lock_station_data.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/app/fsm/task_fsm/task_buffer_fsm/task_buffer_fsm.hpp
	data/constrain/block_data.cpp
Commit de88c099a7d7c1516cee194407392871901a23e7 by tangwenqing chore: SSEP: 适配烟台跨运车的新需求
	ssep/scenarios/truck_general_planner.h
	ssep/scenarios/straddle_carrier_pick_vehicle_planner.h
	ssep/ssep_planner.cc
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
	data/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
	data/config/cfg_env_const.hpp
	plan/prepare/prepare_status.cpp
	data/config/cfg_env_const.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
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/map/pnc_map/routing_extension/routing_data.hpp
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>
	data/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。
	data/scenario/scenario_region_condition.cpp
Commit 53d5cb0217fc32e3efa1e81c8e69beb8f9fac676 by chenran fix: sweep exception
	algorithm/plan/sweep_area.cpp
Commit 5d4eb86bd0400691a024c1d3198f99dff970a322 by chenran fix: sweep exception
	algorithm/plan/sweep_area.cpp
Commit c606fdbf358d2f4ada4529ab7d896951bfa50e72 by chenran fix: wbca path length = 40 in openspace
	tasks/plan/path_optimization_task.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/wbca/path_optimization/path_optimization.cpp
Commit cdba3fef027f65b2762343f58883fe0974ee0dcb by wuyanjun110 fix:进堆场触发直连模式的bug Co-authored-by: Copilot <copilot@github.com>
	ssep/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>
	data/scenario/scenario_planner_action.cpp
Commit a1d6c4e0bfcef0f9ee935eed46ed4ca693207727 by wuyanjun110 fix: wbca path length = 40 in openspace
	tasks/plan/path_optimization_task.cpp
	data/config/cfg_lat_plan.cpp
	algorithm/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>
	ssep/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>
	data/scenario/scenario_planner_action.cpp
Commit aa1eca55157864ba12c7c386766cee95ae0c9fc3 by wuyanjun110 fix:一次规划终点匹配失败的bug
	data/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
	data/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
	tasks/plan/keb_path_optimize_task.cpp
	ssep/keb_optimizer/keb_problem.h
	algorithm/plan/keb_optimizer.cpp
	offboard/keb_path_opt_cli/keb_scene_converter.cc
	tasks/plan/keb_utils.hpp
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
	ssep/keb_optimizer/cost_features/ref_line_cost.h
	tasks/plan/keb_utils_core.cpp
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	tasks/plan/keb_utils_core.hpp
	ssep/keb_optimizer/keb_problem.cc
	tasks/plan/keb_utils.cpp
	ssep/keb_optimizer/imv_keb_optimizer.cc
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 91b2d5debb78a3b28f9934cf7ae71c34979cb931 by wuyanjun110 feat:<西联>适配Uturn上码头面
	data/scenario/scenario_planner_bt.cpp
	data/scenario/scenario_planner_condition.cpp
Commit 412605b9dfe0a1cd8cad47d0c06df1cad91fec06 by tangwenqing fix: SSEP: 修复进堆场近距离模式判断条件错误
	ssep/scenarios/scenario_planner_factory.h
Commit 66e4f9d2007bbf032c0f0b7d745dfd22bffd430a by tangwenqing fix: Keb-task: 修复低贝位进堆场轨迹震荡的bug
	algorithm/plan/keb_optimizer.cpp
	offboard/keb_path_opt_cli/keb_simulator.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/keb_optimizer/imv_keb_optimizer.h
	ssep/keb_optimizer/keb_problem.h
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	ssep/keb_optimizer/imv_keb_optimizer.cc
	tasks/plan/keb_utils_core.cpp
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
	ssep/keb_optimizer/cost_features/temporal_consistency_cost.h
	tasks/plan/keb_path_optimize_task.cpp
	ssep/keb_optimizer/keb_problem.cc
	tasks/plan/keb_utils.cpp
	ssep/keb_optimizer/cost_features/ref_line_cost.h
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
Commit 85a5b9891b746c13236e27215b13a470491d83e9 by tangwenqing chore: Keb-task: 提升Keb-IMV轨迹稳定性（时序一致性）
	offboard/keb_path_opt_cli/keb_scene_converter.cc
	ssep/keb_optimizer/cost_features/imv_dynamic_constraint.h
	tasks/plan/keb_lane_follow_path_task.cpp
	offboard/keb_path_opt_cli/keb_simulator.cc
	ssep/keb_optimizer/imv_keb_optimizer.h
	ssep/keb_optimizer/cost_features/imv_steer_constraint.h
	ssep/keb_optimizer/keb_problem.h
	algorithm/plan/keb_optimizer.cpp
	algorithm/plan/keb_optimizer.hpp
	ssep/keb_optimizer/imv_keb_optimizer.cc
	ssep/keb_optimizer/keb_problem.cc
Commit dd6f2887eff14c5672e36024b0813714c5934550 by wuyanjun110 refactor: 将SLBoundary计算外提并作为参数传入CrashHelper相关函数，优化转场吊车阻挡逻辑
	data/config/cfg_func_sw.cpp
	tasks/deciders/long_decider/time_path_graph_decider.cpp
	data/obstacle/block.cpp
	data/other/flow_control.cpp
	common/util/crash_helper.cpp
	common/util/crash_helper.hpp
	data/obstacle/block.hpp
	data/config/cfg_func_sw.hpp
	data/constrain/block_data.cpp
	data/config/cfg_safe_const.cpp
	data/config/cfg_safe_const.hpp
Commit ceaca35f06fdd7ca19c7d1c2f7904d164ae48bb6 by wuyanjun110 feat: 添加碰撞但不停车的龙门吊禁停区域记录 Co-authored-by: Copilot <copilot@github.com>
	data/constrain/block_data.hpp
	data/constrain/block_data.cpp
Commit 07aee2a74e0684ef85d9b7056ba0a6e99e82a8cd by tangwenqing feat: SSEP-KEB: 增加keb优化诊断工具。改进优化后处理的运动学判据
	ssep/keb_optimizer/imv_keb_optimizer.h
	scripts/keb_diagnostic_vis.py
	ssep/keb_optimizer/keb_problem.h
	.gitignore
	ssep/keb_optimizer/keb_problem.cc
	algorithm/plan/keb_optimizer.cpp
	ssep/keb_optimizer/imv_keb_optimizer.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	ssep/keb_optimizer/keb_problem_diagnostic.h
	ssep/keb_optimizer/keb_problem_diagnostic.cc
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
Commit 388add416c723ad59840b0b866aae8993959bf1a by tangwenqing feat: Keb: 实现rosbag->keb scene的数据转换工具
	offboard/bag_to_keb_scene/bag_reader.hpp
	offboard/bag_to_keb_scene/bag_reader.cc
	offboard/bag_to_keb_scene/bag_to_keb_scene.cc
	offboard/bag_to_keb_scene/CMakeLists.txt
	offboard/bag_to_keb_scene/README.md
	CMakeLists.txt
Commit c291f23eaf81a12b77b9dfc825f868bd5a3f4519 by tangwenqing chore: Keb-Diagnose: 关闭多初始解诊断
	ssep/keb_optimizer/keb_problem_diagnostic.cc
	ssep/keb_optimizer/keb_problem_diagnostic.h
	ssep/keb_optimizer/keb_problem.cc
Commit 7a7e1113cb2032a9b4154567f9428355baf3e979 by tangwenqing feat: Keb: 实现rosbag->keb scene的数据转换工具
	CMakeLists.txt
	offboard/bag_to_keb_scene/bag_reader.hpp
	offboard/bag_to_keb_scene/bag_reader.cc
	offboard/bag_to_keb_scene/bag_to_keb_scene.cc
	offboard/bag_to_keb_scene/README.md
	offboard/bag_to_keb_scene/CMakeLists.txt
Commit ff306a5a442fa8945cdce677a6c549f1c0695ef5 by wuyanjun110 fix: 修正AddJunctionBlockRanges函数中的起始位置计算逻辑
	data/constrain/block_data.cpp
Commit b7412fd21a316b1ef3703cc93d759282d4540fe8 by wuyanjun110 feat: 适配云端障碍物类别的功能 Co-authored-by: Copilot <copilot@github.com>
	data/config/cfg_func_sw.cpp
	data/config/cfg_func_sw.hpp
	data/other/flow_control.cpp
	plan/prepare/prepare_ogm.hpp
	data/scenario/scenario_planner_condition.cpp
	data/vehicle/cloud_pnc_config.hpp
	hmi/draw/draw_intersection.cpp
	plan/prepare/prepare_ogm.cpp
	data/vehicle/cloud_pnc_config.cpp
	data/ssep/ssep_ec.cpp
	hmi/draw/draw_map.cpp
Commit 86de8210ee68e6329f32cc1a35868b69ed2a94b7 by wuyanjun110 fix: 修正UpdateBufferRange函数中障碍物遍历逻辑，改为使用历史障碍物数据
	data/vehicle/lock_station_data.cpp
Commit 2b509a221cdd64b1c693b51a550bdfdec8bfa437 by wuyanjun110 fix: 更新RoutingPath::UpdateDestDistance逻辑，增加对route_indices_大小的检查
	data/map/pnc_map/routing_extension/routing_data.cpp
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。
	offboard/bag_to_keb_scene/README.md
	offboard/bag_to_keb_scene/bag_reader.hpp
	offboard/bag_to_keb_scene/bag_reader.cc
	offboard/bag_to_keb_scene/bag_to_keb_scene.cc
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。
	tasks/plan/keb_utils.cpp
Commit 44f7b48f99c518652479d5e51bea85b3e35d6de8 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。
	offboard/bag_to_keb_scene/README.md
	offboard/bag_to_keb_scene/bag_reader.hpp
	offboard/bag_to_keb_scene/bag_to_keb_scene.cc
	offboard/bag_to_keb_scene/bag_reader.cc
Commit 70f22cdfbe6f4f6d176a40d97091accaf3f47740 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。
	tasks/plan/keb_utils.cpp
Commit c5db948fe5fb7098173c070809482e128577b495 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。
	tasks/plan/keb_utils.cpp
Commit 91fdc35083c9b02c48101419fd07aa48aa141b66 by tangwenqing feat: SSEP: 增加跨运车普通搜索（单段搜索），自适应起点朝向。
	ssep/protos/ssep_scenario_type.proto
	ssep/scenarios/scenario_planner_factory.h
	ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.h
	ssep/data_structures/ssep_scenario_type.hpp
	ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
	ssep/scenarios/straddle_carrier_general_planner.h
Commit b7fd0ea445d47529917a4cbfbe8dbc1007c7c789 by tangwenqing chore: snapshot to keb scene 增加批量转换功能
	offboard/bag_to_keb_scene/README.md
	offboard/bag_to_keb_scene/bag_to_keb_scene.cc
Commit c536333cacc14cfa6409a6c3cbce88b8046073ef by wuyanjun110 fix:修复进bulk场景中，有一帧场景器不运行的bug
	scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
Commit 6fbef3aa974bd5ef568ccbc99974572aed2ebaad by tangwenqing fix: SSEP: ogm为空时退出搜索
	data/ssep/ssep_activation.cpp
Commit f52484d31ef770116289c6501ba45ac3c0800d1a by wuyanjun110 refactor:上下引桥搜索的时候考虑ogm_lines, 然后删除原有的boundary
	data/ssep/field_junction_ec.cpp
	data/ssep/bridge_junction_ec.cpp
Commit 223d3a6d63e5dc946bb54f6ff62014329fdf54e3 by chenran fix: cancel wbca task_id verification
	algorithm/wbca/wbca_manager.cpp
Commit 61ad307f176a1e2ecec7b94d5a63764d73c65e24 by tangwenqing feat: Keb: Add keb-foxglove visualization
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CylinderPrimitive.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TriangleListPrimitive.proto
	offboard/keb_vis_server/foxglove/README.md
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/LinePrimitive.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Vector3.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/CubePrimitive.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Color.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/KeyValuePair.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SpherePrimitive.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntity.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneEntityDeletion.proto
	offboard/keb_vis_server/foxglove/keb_to_mcap.py
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/SceneUpdate.proto
	offboard/keb_vis_server/foxglove/requirements.txt
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Quaternion.proto
	.gitignore
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Pose.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/TextPrimitive.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ArrowPrimitive.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/Point3.proto
	offboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/ModelPrimitive.proto
Commit 3d0d0fca081f967e21bb815c2b190c89ac9284c9 by tangwenqing feat: Keb: Add foxglove remote file server
	offboard/keb_vis_server/foxglove/serve_mcap.py
	offboard/keb_vis_server/foxglove/README.md
Commit 0f11ae0bab1008819526bd858df4337cf40a65e0 by tangwenqing fix: Keb: 修复keb-foxglove转换脚本
	offboard/keb_vis_server/foxglove/README.md
	offboard/keb_vis_server/foxglove/generate_protos.sh
Commit 44c2b4b85df795417ffb726444c32293dbc1f123 by tangwenqing feat: SSEP: 跨运车车型支持多段路径搜索（可通过参数配置）
	ssep/scenarios/straddle_carrier_general_planner.h
Commit 0c8a011f5420723cb66ac58914844eccfc48aeee by tangwenqing chore: SSEP: 跨运车路径搜索时不考虑终点约束
	ssep/ssep_planner.cc
Commit 9194eea41c71b4fbb0224dba9be07f7ce477d675 by tangwenqing fix: 修复编译依赖关系未指定导致概率性编译失败的问题
	proto/CMakeLists.txt
Commit 1b925974d34136dcea854939e67007dde1243e2f by tangwenqing chore: Keb: 跑通优化诊断全流程。解决S弯道IMV距离障碍物太近/画龙问题
	offboard/keb_path_opt_cli/keb_simulator.hpp
	ssep/keb_optimizer/imv_keb_optimizer.h
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	algorithm/plan/keb_optimizer.hpp
	ssep/CMakeLists.txt
	offboard/keb_vis_server/foxglove/keb_to_mcap.py
	algorithm/plan/keb_optimizer.cpp
	offboard/keb_path_opt_cli/keb_simulator.cc
	ssep/keb_optimizer/keb_problem.cc
	tasks/plan/keb_lane_follow_path_task.cpp
	ssep/keb_optimizer/keb_problem_diagnostic.cc
	offboard/keb_path_opt_cli/keb_scene_converter.cc
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/protos/diagnostic.proto
	proto/keb_scene.proto
	ssep/keb_optimizer/keb_problem_diagnostic.h
	offboard/keb_path_opt_cli/keb_path_opt_cli.cc
	ssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
	ssep/keb_optimizer/keb_problem.h
	ssep/keb_optimizer/imv_keb_optimizer.cc
	proto/CMakeLists.txt
	offboard/keb_vis_server/foxglove/generate_protos.sh
	offboard/keb_path_opt_cli/CMakeLists.txt
Commit 016c1c47dab8fedb1d3a7577ac83684b561c844e by wuyanjun110 refactor: 优化 CreateRoadSecIdxS 方法中的弯道处理逻辑
	data/map/reference/reference_road_section.cpp
	.gitignore
Commit 2cae818e72a83c101ee324a77186f5866a191365 by wuyanjun110 refactor: 重构弯道接续逻辑，提取公共查找函数并简化流程
	data/map/reference/reference_road_section.cpp
Commit 4b38573f9ff8b061484c81feef8f75803377cfbf by tangwenqing chore: SSEP: 集卡多段倒车接挂适配超窄库位
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
	ssep/scenarios/scenario_planner_factory.h
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit e58ed555388809334c87ab9fdc55fbef1dd89898 by wuyanjun110 refactor: 优化 CreateRoadSecIdxS 方法中的段匹配逻辑
	data/map/reference/reference_road_section.cpp
Commit f5b95a7b89d7da92fddc7d2ad89ae3877d53cce3 by wuyanjun110 refactor: 增强 CenterLineInfo 和 CreateCenterLines 的日志记录，改进错误处理
	data/plan/center_line_info.cpp
	tasks/other_tasks/create_center_lines.cpp
Commit 1d2ccec91a4d5d55ee1a8628b7aa6157da8d8837 by wuyanjun110 feat: 添加上层挂的前后基准距离计算
	data/config/cfg_static.cpp
Commit f594d4056c9db95adf15b608d615499907d9b9fb by tangwenqing fix: Task Park时不使用参考线
	data/ssep/ssep_ec.cpp
Commit b3e0c232de1806c24d09b1438c4efd253fc72e33 by wuyanjun110 feat: 添加限速相关参数和窄障碍过滤逻辑
	data/obstacle/occupy_grid.cpp
	data/obstacle/occupy_grid.hpp
	data/config/cfg_safe_const.hpp
	data/config/cfg_safe_const.cpp
Commit 049e471c60e56c09ca7c2223d5d1186b8d2dc541 by wuyanjun110 feat: 碰撞检测相关修改，支持返回碰撞命中信息及禁行道路类型
	common/util/crash_helper.cpp
	hmi/draw/draw_collision_detection.cpp
	data/plan/predict_path.cpp
	hmi/draw/draw_constrain.cpp
	data/constrain/long_target.cpp
	data/obstacle/ogm.hpp
	data/constrain/longitude_constrain.hpp
	data/obstacle/ogm.cpp
	data/constrain/longitude_constrain.cpp
	plan/prepare/prepare_ogm.cpp
	data/lattice/ogm_crash_data.cpp
	data/lattice/ogm_crash_data.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
	common/util/crash_helper.hpp
	data/plan/predict_path.hpp
	tasks/deciders/other_decider/replan_decider.cpp
Commit f681eb8a15aaa2e1619d4f531bfe86654aedf63c by wuyanjun110 feat: 停车原因相关修改，新增禁行道路 OGM 停车类型
	data/app/fsm/stop_reason.cpp
	data/plan/ssep_data.cpp
	data/app/fsm/stop_reason.hpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	common/util/express.cpp
Commit 0e93f151e668b0c0573195d94b688ce9e0eb52e9 by tangwenqing chore: SSEP: 苏溪IMV支持反向进停车位
	ssep/scenarios/imv_enter_station_planner.h
Commit ad378825194056a8803f5af5bccb0b0e7a1dc0aa by tangwenqing fix: 修复烟台跨运车路径规划未到终点的问题
	ssep/scenarios/straddle_carrier_pick_vehicle_planner.h
	data/ssep/ssep_ec.cpp
	ssep/scenarios/straddle_carrier_general_planner.h
	ssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cc
Commit a62c3fcadf54c16a43502f7c87f1d4fda62639b5 by wuyanjun110 refactor:优化进堆场弯道禁停的忽略的距离
	data/constrain/disable_stop_range.cpp
Commit f66d6ba29d393b706e7983c1ca72f7a08eae66f1 by tangwenqing fix: SSEP: 修复近距离进堆场时先掉2次头再进堆场的问题
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/scenarios/planner_utils.cc
	ssep/scenarios/planner_utils.h
Commit cbeaafa15e29e65f45a0e38b09f61edb3d782466 by tangwenqing fix: SSEP: 修复途经点在后方时路径异常的问题
	ssep/scenarios/tractor_trailer_general_planner.h
Commit 10712e7732eeb32df8ec9e2f177993adfc99ffb2 by tangwenqing chore: SSEP: IMV增加条件忽略pass point
	ssep/scenarios/scenario_planner_factory.h
Commit 52b8bc23bb8957f98a4fed7126c79f68d7425b38 by wuyanjun110 fix: 调整CreateNoTrajectories中的remain_len逻辑，减少无轨迹停车
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 79fc60aa3c6ecff8eaace51e91ed41a974d42b13 by wuyanjun110 feat:苏溪进停车位场景识别的bug
	data/ssep/forward_ec.cpp
Commit 1d9ef3640faf47d9567abcfdb76b10ea40ad3bc2 by wuyanjun110 支持通过参数配置堆高机任务完成的纵向安全边距
	data/config/cfg_safe_const.hpp
	data/config/cfg_safe_const.cpp
	data/app/fsm/task_done_verification.cpp
	data/app/fsm/task_done_verification.hpp
Commit 56d64967cc4267d3501bcda7c787c819271cda87 by wuyanjun110 feat: 在forsearch搜索中，前港区域，不考虑矿卡障碍物
	data/ssep/forward_ec.cpp
Commit 498088b38d4026ab07266daecbcbc3c62b6d2c88 by tangwenqing fix: Keb: 修复IMV后侧容易被挡停的问题
	ssep/keb_optimizer/imv_keb_optimizer.cc
Commit fd66e4bd2d7af4fa76e4651e5bae615c0ace7172 by tangwenqing fix: IMV: 修复偶发优化失败的问题，修复距离path boundary较近时路径异常的问题
	algorithm/plan/keb_optimizer.cpp
	tasks/plan/keb_utils_core.cpp
Commit dff765e360805cc6cd25a6a6df811933d253cdce by tangwenqing fix: SSEP: 解决威海多段倒车距离og墙太近的问题
	ssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 335bc124e56c2536cc6128b6211da5406e756911 by wuyanjun110 feat: 添加计划运行监视器以跟踪任务执行时间和状态
	scenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
	scenarios/bulkload_scenario/bulkload_preapre_stage.cpp
	scenarios/stage.cpp
	scenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
	scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
	scenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
	core/plan_async.cpp
	node/logic.cpp
	scenarios/lane_change_scenario/lane_change_cancel_stage.cpp
	scenarios/lane_change_scenario/lane_change_prepare_stage.cpp
	scenarios/parking_scenario/parking_lane_change_stage.cpp
	plan/pilot/module.cpp
	core/plan_runtime_watchdog.hpp
	scenarios/lane_change_scenario/lane_change_stage.cpp
	scenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
	scenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
	scenarios/stage.hpp
	scenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
	scenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
	scenarios/lane_follow_scenario/lane_follow_stage.cpp
	plan/prepare/module.cpp
	scenarios/parking_scenario/parking_move_stage.cpp
	scenarios/parking_scenario/parking_prepare_stage.cpp
	scenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
Commit 849b809662aefd3a936983d16c9eb850bf0628d6 by wuyanjun110 feat:终点在身后的时候 并且车辆没有移动的情况下 不创建停止线。
	data/map/pnc_map/routing_extension/routing_data.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/map/pnc_map/routing_extension/routing_data.hpp
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
	data/app/cmd/cmd_dead_lock_force_park.hpp
	data/plan/cloud_trajectory.cpp
	data/plan/cloud_trajectory.hpp
	data/plan/guide_line.cpp