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Changes

Summary

  1. fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败 (details)
  2. fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败 (details)
  3. fix: 大榭普通堆高机场地放宽终点约束距离, 修复进堆场 SSEP 搜索失败 (details)
  4. fix: low speed issues in wbca smooth mode. (details)
Commit 9449d4498e013ed06dfa7fed504ef9ad27c19b42 by wuyanjun110
fix: 下码头面偏离参考线时扩大 path boundary 以避免 PJPO 求解失败

在 GetBoundaryFromKinetics 中, 除 IsInIntoYardPlanner 外, 海侧路口区域
(IsInSeasideJunctionRegion) 同样触发 ssep_into_yard_replan 路径边界扩大,
解决下码头面车辆偏离参考线时 PJPO 因边界过窄求解失败的问题。

附带补充 SmoothTask 起点平滑日志(start_ref_point/overlap_distance)便于排查。
The file was modifiedtasks/plan/smooth_task.cpp
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
Commit 1300c30323d09a36379a87b9382c98a54dbddcb6 by wuyanjun110
fix: 开放空间区域同样扩大 path boundary 避免 PJPO 求解失败

GetBoundaryFromKinetics 触发条件再补充 IsInOpenSpaceRegion, 使开放空间
区域偏离参考线时也走 ssep_into_yard_replan 边界扩大逻辑。
The file was modifiedtasks/deciders/lat_decider/path_bounds_decider.cpp
Commit 7abef0590c3c44991f903f297a31e23c889fd76d by wuyanjun110
fix: 大榭普通堆高机场地放宽终点约束距离, 修复进堆场 SSEP 搜索失败

GetEndStraightDis 中 DAXIE 区域且 is_normal_stacking_yard_ 时, terminal_constrain_dis
直接取 dst_accu_distance_after_end_stop_line_(不再扣除 5m straighten_extend_buffer),
避免 end_straighten_dis_ 被过度压缩导致进堆场 SSEP 搜索失败。
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit a605b97d260908f14442ab19f80625592247786b by chenran
fix: low speed issues in wbca smooth mode.
The file was modifieddata/lattice/trajectory_evaluator.cpp