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Changes

Summary

  1. feat:优化og点的碰撞检测 (details)
  2. fix: 优化友谊关倒车路径，更符合pass point (details)
  3. feat:1. ogm精细碰撞检测添加开关2. ogm高度 分层 添加更多层3.进堆场过程中，xx重新规划，扩展边界，解决pjpo求解失败的问题4.添加进堆场虚拟停止线附近的限速 (details)
  4. feat:bulk场景判断的距离阈值调整成255米 (details)
  5. feat:单侧堆场默认左侧放箱子 (details)
  6. feat:进堆场 不是低贝位i的时候取消外侧的约束 (details)
  7. fix: 优化友谊关倒车路径，更符合pass point (details)
  8. fix: SSEP: 优化集卡非低贝位进堆场路径。全路径开启keb优化+终点扰动。恢复上个版本可以“小角度斜着进堆场”的特性。 (details)
  9. fix: SSEP: fix typo (details)
  10. feat:优化og的处理 (details)
  11. fix:修复绘制的bug (details)
  12. fix: SSEP: 提升远距离绕桥腿成功率 (details)
  13. feat:杨浦适配B场 (details)
  14. feat: 1. 绕跷腿搜索标志位 2.右转进堆场的强制用约束的标志位 (details)
  15. feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 (details)
  16. chore: mionr update (details)
  17. fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug (details)
Commit 50dd6319a291dfa0072c8a87433a5011fb8cf22c by wuyanjun110
feat:优化og点的碰撞检测
The file was modifieddata/plan/predict_path.cpp
The file was modifiedcommon/util/crash_helper.hpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedcommon/util/crash_helper.cpp
Commit ae60eafbf0679245ce50399758da8a70ac5c2b29 by tangwenqing
fix: 优化友谊关倒车路径，更符合pass point

The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 2d87fc5706d92e7ae63f3761d8423e86ad71bbf4 by wuyanjun110
feat:1. ogm精细碰撞检测添加开关2. ogm高度 分层 添加更多层3.进堆场过程中，xx重新规划，扩展边界，解决pjpo求解失败的问题4.添加进堆场虚拟停止线附近的限速
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/lattice/ogm_crash_data.cpp
The file was modifieddata/plan/guide_line_base.cpp
The file was modifieddata/plan/guide_line_base.hpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/lattice/ogm_crash_data.hpp
The file was modifiedhmi/draw/draw_contour.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/plan/predict_path.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedhmi/draw/draw_contour.hpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.hpp
Commit bf9ff1c63bdd91efb6646dcbaf85e34b6368e16c by wuyanjun110
feat:bulk场景判断的距离阈值调整成255米
The file was modifieddata/other/flow_control.cpp
Commit 46cc3298e48d212c403a0a347a0761530fdda22f by wuyanjun110
feat:单侧堆场默认左侧放箱子
The file was modifieddata/boundary/road_boundary.cpp
Commit a7de2818a86e434970526f4481852df7ed298ea0 by wuyanjun110
feat:进堆场 不是低贝位i的时候取消外侧的约束
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 90d8a0908b4191e8616f3a5b921f7b656a08bd15 by tangwenqing
fix: 优化友谊关倒车路径，更符合pass point

The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/common/utils/scene_frame_visualization.cc
The file was modifieddata/ssep/forward_ec.cpp
Commit c56b4c5d8314992eac3334c7dcc08e29920b2af3 by tangwenqing
fix: SSEP: 优化集卡非低贝位进堆场路径。全路径开启keb优化+终点扰动。恢复上个版本可以“小角度斜着进堆场”的特性。

The file was modifiedssep/keb_optimizer/cost_features/state_constraint.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 5f6f4cf5d78da3995c5c8429456fa6784d3098bc by tangwenqing
fix: SSEP: fix typo

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 5efaa43dc52bdd4b739598dcc0ac5827fcd7100f by wuyanjun110
feat:优化og的处理
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
The file was modifiedhmi/draw/draw_perception.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 6f5f4c682ec3bc37d019989920d3bdf64e1b5e18 by wuyanjun110
fix:修复绘制的bug
The file was modifiedhmi/draw/draw_perception.cpp
Commit d2e71e8082e64a035cf1801d86c91adb1e84d756 by tangwenqing
fix: SSEP: 提升远距离绕桥腿成功率

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
The file was modifiedssep/common/utils/path_utils.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
Commit 9deba718267a35d12d01a970f688b7e9264e00d2 by wuyanjun110
feat:杨浦适配B场
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/field_junction_ec.hpp
The file was modifieddata/boundary/road_boundary.hpp
The file was modifieddata/config/cfg_env_const.cpp
Commit 8d3bea64b182d97c7efe05e6589f0720fbe2c72a by wuyanjun110
feat: 1. 绕跷腿搜索标志位 2.右转进堆场的强制用约束的标志位
The file was modifieddata/ssep/seaside_junction_ec.cpp
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 4f9f657a13d19cdd1e01505f4b33908006057079 by tangwenqing
feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit a95555f93a6b230456e53e7d9b90ae6a33dcb8fb by tangwenqing
chore: mionr update

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 1e66b1189f9ade7bd0f368109950eef1aa8ba17b by wuyanjun110
fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug
The file was modifiedtasks/other_tasks/stitch_path_to_reference_line.cpp