Build #1922 (Jul 16, 2026 12:13:23 AM)

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. fix: disable wbca during esdf_map = nullptr (details)
4. fix: SSEP: 解决进堆场路径车挂与车头可能夹角过大的问题 (details)
5. fix: unexpected route inverval (details)
6. feat: 拖挂进堆场无 passing 途径点时改用单段倒车 (details)
7. feat: 只有当任务是倒车去货堆的时候，才用单段倒车搜索 (details)
8. fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 (details)
9. chore: Keb: 优化imv避障效果（回退sdf loss） (details)
10. chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 (details)
11. fix: warm-start bug (details)
12. feat: SSEP: 调整集卡多段倒车拉直逻辑 (details)
13. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
14. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
15. refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks (details)
16. 桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 (details)
17. scenario BT: 出桥区进入普通路口区时立即退出 BRIDGE_JUNCTION planner (details)
18. fix: Keb: 调整避障参数，解决距离障碍物距离太近的问题 (details)
19. fix: SSEP: remove strcat (details)
20. fix: destination distance exception (details)
21. block: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID) (details)
22. block: 过滤本车自己上报的堆高机作业区(stackerWork_*_本车ID) (details)
23. ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框 (details)
24. boundary: 路口边界改用多边形 SL 投影, 修复异形路口边界错误(灰度默认关) (details)
25. fix:出堆场 直接open sapce上码头面搜索起点不合适的bug (details)
26. ssep: 删除路口终点位姿的车头点框内回退校验 (details)
27. feat:删除打印的日志 (details)
28. fix: 禁用前向搜索设置中的 theta 功能 (details)
29. fix: imv wbca smooth mode bug (details)
30. ssep: 进场景计划区域合并起点框时校验面积, 防止区域轮廓被 sanitize 丢弃后只剩起点框 (details)
31. fix:出堆场 直接open sapce上码头面搜索起点不合适的bug (details)
32. ssep: 删除路口终点位姿的车头点框内回退校验 (details)
33. feat:删除打印的日志 (details)
34. fix: 禁用前向搜索设置中的 theta 功能 (details)
35. fix: wbca direct link mode bug (details)
36. fix: wbca velocity profile bug (details)
37. fix: wbca velocity profile bug (details)
38. feat: 适配云端access line (details)
39. boundary: OGM 真值入栅格+贴边位编码, 修无障碍走廊边界内缩 (details)
40. feat: 云端pnc config适配access line转换, 补HMI绘制与收包打印 (details)
41. fix: 修正云端访问线路的yard_id赋值 (details)
42. fix: Keb: 修复Warm start频繁失败的问题 (details)
43. fix: 修正云端配置中access line的yard_id赋值 (details)
44. fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段 (details)

Started by upstream project orin-module-slave32 build number 4644
originally caused by:

• Started by user wuyanjun

• master

• refs/remotes/origin/master

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• origin/rc_dev_qiangang_config

• origin/feat_sidepass_decider

• origin/rc_dev

• origin/rc_dev