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Changes

Summary

  1. 场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判 (details)
  2. BTActRunPlanner: 进入海侧路口区域时退出常规 planner (details)
  3. feat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题 (details)
  4. fix: imv wbca crash bug (details)
Commit 2bbd2fb7ee835a3c61b859336e93797bc7d40e10 by wuyanjun110
场景决策: 修复弯道 NORMAL 兜底与直行上下桥中误判

- U/S 弯 NORMAL 兜底判据统一为 BendForwardIntersection, 让桥后及海侧弯后短桥的弯能进 *_NORMAL_*_BEFORE(原 CurrentBendOut<LAT/LONG> 门挡住桥上游拓扑, 卡在 seaside INSIDE)
- 直行上/下桥中判据 StraightUp/DownBridgeInside 补前方 IsBend 早退, 与 Before 版对齐; 前方有弯道时不再误判为直行下桥中, 修复 BRIDGE_MULTI_LANES 被 STRAIGHT_INTO_BRIDGE_DOWN_*_INSIDE 遮蔽
The file was modifieddata/scenario/scenario_region_condition.cpp
The file was modifieddata/scenario/scenario_region_bt.cpp
Commit 76b17b6698b320a0995125d13bbf32f3eb24810f by wuyanjun110
BTActRunPlanner: 进入海侧路口区域时退出常规 planner
The file was modifieddata/scenario/scenario_planner_action.cpp
Commit f354f26aed1119909f4b5eee277a8dfb1c7fe9bd by tangwenqing
feat: SSEP: 多段倒车支持无pass point模式。解决到达pass point后重规划会继续往前的问题，解决停车角度歪的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/scenarios/planner_utils.cc
The file was modifiedssep/scenarios/planner_utils.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/scenarios/tractor_trailer_single_segment_parking_planner.h
Commit 15f59cf516b4828241ba12039ef21f8630e7f54e by chenran
fix: imv wbca crash bug
The file was modifiedalgorithm/wbca/path_optimization/imv_path_optimization.cpp