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Changes

Summary

  1. fix: SSEP: 跨运车: 1.搜索禁止匹配参考线.  2.末端直线忽略碰撞 (details)
  2. feat: 添加计划运行监视器以跟踪任务执行时间和状态 (details)
  3. 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)
  4. feat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。 (details)
  5. chore: SSEP: 跨运车自转逻辑改进 (details)
  6. feat: SSEP: 支持上下码头面同时进堆场 (details)
  7. fix: SSEP: 修复集卡多段倒车搜索失败的问题 (details)
  8. fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。 (details)
  9. chore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程 (details)
  10. fix: Keb: 修复终点附近轨迹会有碰撞的问题 (details)
  11. fix: SSEP: fix crashing issue (details)
  12. chore: Keb-sim: 适配终点选取逻辑 (details)
  13. chore: Keb: 优化IMV的避障效果 (details)
  14. fix: 匹配STOP_DECIDER前移 (details)
Commit 21a1df2d731e984cb4d3fd10e4b367b5433adc37 by tangwenqing
fix: SSEP: 跨运车: 1.搜索禁止匹配参考线.  2.末端直线忽略碰撞

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
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
The file was modifiedscenarios/parking_scenario/parking_prepare_stage.cpp
The file was modifiednode/logic.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_backward_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_prepare_stage.cpp
The file was modifiedcore/plan_async.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_move_stage.cpp
The file was modifiedplan/prepare/module.cpp
The file was modifiedplan/pilot/module.cpp
The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
The file was modifiedscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_stage.cpp
The file was modifiedscenarios/stage.cpp
The file was modifiedscenarios/lane_change_scenario/lane_change_cancel_stage.cpp
The file was modifiedscenarios/parking_scenario/parking_lane_change_stage.cpp
The file was addedcore/plan_runtime_watchdog.hpp
The file was modifiedscenarios/stage.hpp
The file was modifiedscenarios/bulkload_scenario/bulkload_lane_change_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_preapre_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_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。
The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit d18a7474fa7354e2aa5f5fbf9d696bbc071de17d by tangwenqing
feat: SSEP: 增加运动学约束warm up功能。在优化初期减小运动学约束的代价，并增加逐步衰减的平滑、避障代价。让优化器在优化初期更关注轨迹形态，后期更关注运动学约束。

The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
Commit d189bbc6258b48ba139a99f51101e0cd19269dc3 by tangwenqing
chore: SSEP: 跨运车自转逻辑改进

The file was modifiedssep/scenarios/straddle_carrier_pick_vehicle_planner.h
Commit 6e58a963e9a696edda1a1fbc57114f301c2d47fc by tangwenqing
feat: SSEP: 支持上下码头面同时进堆场

The file was modifiedssep/scenarios/scenario_planner_factory.h
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 0dbf3b3c0dd814f60915d79a4e08490a137974c4 by tangwenqing
fix: SSEP: 修复集卡多段倒车搜索失败的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit b256d63212ae082f14354d1d39518463c61aa4d9 by tangwenqing
fix: SSEP: 修复跨运车普通搜索掉头代价太大导致出原地转圈轨迹的问题。

The file was modifiedssep/scenarios/straddle_carrier_general_planner.h
The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
Commit 4bf5c8270da914d3b1f5904f5e1bb979afa6cc7b by tangwenqing
chore: Keb: 根据前杠窄弯/窄通道数据调整自卸车的优化参数和流程

The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_path_opt_cli.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.cc
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
Commit 48d96b1fa2212d2e673a86427ae8c99c58fb86da by tangwenqing
fix: Keb: 修复终点附近轨迹会有碰撞的问题

The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
Commit bba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f5 by tangwenqing
fix: SSEP: fix crashing issue

The file was modifiedssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
Commit 0703acd58c84b4ace9abf4350bd6604c0e1b1cb7 by tangwenqing
chore: Keb-sim: 适配终点选取逻辑

The file was modifiedoffboard/keb_path_opt_cli/keb_simulator.cc
Commit 51f5fb1c968a563b794d66cc91759514d44ffb42 by tangwenqing
chore: Keb: 优化IMV的避障效果

The file was modifiedtasks/plan/keb_utils_core.cpp
The file was modifiedalgorithm/plan/keb_optimizer.cpp
The file was modifiedoffboard/keb_path_opt_cli/keb_scene_converter.cc
The file was modifiedtasks/plan/keb_lane_follow_path_task.cpp
Commit fcb1fdf1c53233f194b8e9f1689ec363d96b4305 by liuhongshuo
fix: 匹配STOP_DECIDER前移
The file was modifiedtasks/deciders/other_decider/stop_decider.cpp