Changes

#1443 (Jan 16, 2026 12:46:34 PM)

1. fix: cfg_static bug — 5081703.cr / detail
2. fix: replayer bug — 5081703.cr / detail
3. feat:适配新的region — wuyanjun110 / detail

#1443 (Jan 16, 2026 12:46:34 PM)

1. feat_out: Region新增REGION_REDUCE_FOLLOW_DISTANCE,REGION_MORE_LOWER_SECURITY_THRESHOLD — caoxue / detail

#1442 (Jan 15, 2026 1:52:51 PM)

1. fix: no_shift region around destination. — 5081703.cr / detail
2. feat:调整 hfsm status中cur lane id的逻辑 — wuyanjun110 / detail
3. fix: deviation speed limit bug. — 5081703.cr / detail
4. fix: truck wbca replayer debug. — 5081703.cr / detail
5. fix: truck wbca replayer debug. — 5081703.cr / detail
6. feat:优化cur laneid的赋值 — wuyanjun110 / detail
7. fix: using wbca failed_count to deactivate history. — 5081703.cr / detail
8. fix: merge bug. — 5081703.cr / detail
9. fix:搜索起点太远的问题 — wuyanjun110 / detail

#1441 (Jan 15, 2026 11:35:40 AM)

1. fix: redefine remote ctrl direction. — 5081703.cr / detail

#1440 (Jan 14, 2026 6:08:59 PM)

1. fix: start_pt heading for smooth mode — 5081703.cr / detail
2. fix: unloading target logic. — 5081703.cr / detail

#1439 (Jan 14, 2026 4:41:04 PM)

1. feat:优化cur laneid的赋值 — wuyanjun110 / detail

#1438 (Jan 14, 2026 3:36:13 PM)

1. Update daxie-submodule.jenkinsfile — weilikang / detail

#1438 (Jan 14, 2026 3:36:13 PM)

1. fix:修复出停车位ssep路径方向的bug — wuyanjun110 / detail
2. fix:sweep路径的bug — wuyanjun110 / detail
3. feat:界面添加障碍物类别的显示 — wuyanjun110 / detail
4. feat:优化云端障碍物的赋值 — wuyanjun110 / detail
5. fix: 修复威海car bulkout场景进错的问题 — tangwenqing / detail
6. fix: typo — tangwenqing / detail
7. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 — tangwenqing / detail
8. fix: deviation speed limit bug. — 5081703.cr / detail

#1437 (Jan 14, 2026 2:42:09 PM)

1. feat:调整 hfsm status中cur lane id的逻辑 — wuyanjun110 / detail

#1436 (Jan 14, 2026 1:39:53 PM)

1. fix: no_shift region around destination. — 5081703.cr / detail

#1435 (Jan 14, 2026 10:53:17 AM)

1. note_out: 添加车挂信息（云控输入） — liuwenjing / detail
2. feat:lonmpc — wuyanjun110 / detail
3. feat: mass estimation debug — wuyanjun110 / detail
4. fix:调整pnc_debug观测项 — wuyanjun110 / detail
5. feat:油门标定消息 — wuyanjun110 / detail
6. feat:增加观测 — wuyanjun110 / detail
7. feat:添加挂尺寸相关字段 — wuyanjun110 / detail
8. feat:删除多余的字段 — wuyanjun110 / detail
9. feat_out:外设操作命令修改 — zhaojianfeng2 / detail
10. feat:添加挂尺寸相关字段 — 5081703.cr / detail
11. feat:删除多余的字段 — 5081703.cr / detail
12. feat_out:增加夹爪控制及反馈 — zhaojianfeng2 / detail
13. fix:pnc_debug/observer_debug更改 — liuhongshuo / detail
14. feat_out:增加剩余续航里程字段 — zhaojianfeng2 / detail

#1435 (Jan 14, 2026 10:53:17 AM)

1. fix: minimize esdf_map — 5081703.cr / detail
2. fix:修复崩溃的bug — wuyanjun110 / detail
3. fix:修复崩溃的bug — wuyanjun110 / detail
4. fix: dx_norm = path_1_tmp.norm — 5081703.cr / detail
5. fix: merge wbca_v2. using soft_min collision cost for truck. — 5081703.cr / detail
6. feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。 — tangwenqing / detail
7. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 — tangwenqing / detail
8. fix: wbca ignores ref_pts out of range. — 5081703.cr / detail
9. fix:修复出停车位ssep路径方向的bug — wuyanjun110 / detail
10. fix:sweep路径的bug — wuyanjun110 / detail
11. feat:界面添加障碍物类别的显示 — wuyanjun110 / detail
12. feat:优化云端障碍物的赋值 — wuyanjun110 / detail
13. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 — tangwenqing / detail
14. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 — tangwenqing / detail
15. chore: SSEP: Car车型多段倒车参数调整 — tangwenqing / detail
16. feat: add repowiki by qoder — liuhongshuo / detail

#1434 (Jan 13, 2026 10:56:34 PM)

1. Update vehicleInfo.groovy — weilikang / detail

#1434 (Jan 13, 2026 10:56:34 PM)

1. Update daxie-submodule.jenkinsfile — weilikang / detail
2. Update daxie-submodule.jenkinsfile — weilikang / detail

#1434 (Jan 13, 2026 10:56:34 PM)

1. fix:终点在堆场出口，边界的bug — wuyanjun110 / detail

#1433 (Jan 13, 2026 5:56:13 PM)

1. Update orin32Choice.groovy — weilikang / detail
2. Update orin64Choice.groovy — weilikang / detail
3. Update orinModule32Choice.groovy — weilikang / detail
4. Update orinModule64Choice.groovy — weilikang / detail
5. Update repoinfo.groovy — weilikang / detail

#1433 (Jan 13, 2026 5:56:13 PM)

1. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 — tangwenqing / detail
2. fix: wbca ignores ref_pts out of range. — 5081703.cr / detail
3. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 — tangwenqing / detail
4. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 — tangwenqing / detail
5. chore: SSEP: Car车型多段倒车参数调整 — tangwenqing / detail
6. fix:修复出停车位ssep路径方向的bug — wuyanjun110 / detail
7. fix:sweep路径的bug — wuyanjun110 / detail
8. feat:界面添加障碍物类别的显示 — wuyanjun110 / detail
9. feat:优化云端障碍物的赋值 — wuyanjun110 / detail
10. fix: 修复威海car bulkout场景进错的问题 — tangwenqing / detail
11. fix: typo — tangwenqing / detail
12. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 — tangwenqing / detail
13. feat:1.根据堆场的偏移信息确定堆场相对道路的为位置。2.根据堆场位置调整约束 — wuyanjun110 / detail
14. feat:动态搜索考虑不可形式区域 — wuyanjun110 / detail

#1432 (Jan 13, 2026 2:56:32 PM)

1. fix: merge wbca_v2. using soft_min collision cost for truck. — 5081703.cr / detail
2. feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。 — tangwenqing / detail
3. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 — tangwenqing / detail
4. fix: wbca ignores ref_pts out of range. — 5081703.cr / detail
5. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 — tangwenqing / detail
6. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 — tangwenqing / detail
7. chore: SSEP: Car车型多段倒车参数调整 — tangwenqing / detail
8. fix:修复出停车位ssep路径方向的bug — wuyanjun110 / detail
9. fix:sweep路径的bug — wuyanjun110 / detail
10. feat:界面添加障碍物类别的显示 — wuyanjun110 / detail
11. feat:优化云端障碍物的赋值 — wuyanjun110 / detail
12. fix: 修复威海car bulkout场景进错的问题 — tangwenqing / detail
13. fix: typo — tangwenqing / detail
14. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 — tangwenqing / detail
15. fix: sc unloading for remote ctrl. — 5081703.cr / detail

#1431 (Jan 13, 2026 1:59:12 PM)

1. fix: 修复威海car bulkout场景进错的问题 — tangwenqing / detail
2. fix: typo — tangwenqing / detail
3. fix: SSEP: 修复最后一段有碰撞时可能优化失败的问题。 — tangwenqing / detail

#1430 (Jan 12, 2026 9:00:03 PM)

1. fix: 统一pnc_debug_msg/ObesrverDebug.msg — liuhongshuo / detail

#1430 (Jan 12, 2026 9:00:03 PM)

1. fix: dx_norm = path_1_tmp.norm — 5081703.cr / detail
2. fix: merge wbca_v2. using soft_min collision cost for truck. — 5081703.cr / detail
3. feat: SSEP: 集卡进堆场搜索的碰撞检测使用软约束。保证生成一条碰撞程度最低的路径。 — tangwenqing / detail
4. feat: SSEP: SSEP输入中加入"作业模式"参数（正向作业/反向作业/Undetermined），统一IMV路径搜索流程 — tangwenqing / detail
5. fix: wbca ignores ref_pts out of range. — 5081703.cr / detail
6. chore: SSEP: 提升集卡常规场景的规划的成功率，缓解末端路径画龙的问题 — tangwenqing / detail
7. feat: SSEP: Car模型多段倒车场景，途径点角度增加角度限制 — tangwenqing / detail
8. chore: SSEP: Car车型多段倒车参数调整 — tangwenqing / detail
9. fix:修复出停车位ssep路径方向的bug — wuyanjun110 / detail
10. fix:sweep路径的bug — wuyanjun110 / detail
11. feat:界面添加障碍物类别的显示 — wuyanjun110 / detail
12. feat:优化云端障碍物的赋值 — wuyanjun110 / detail

#1429 (Jan 9, 2026 10:44:48 AM)

1. fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率 — tangwenqing / detail
2. chore: SSEP: minor update — tangwenqing / detail
3. chore: SSEP: minor updates — tangwenqing / detail
4. feat:car类型的普通路口搜索考虑边界 — wuyanjun110 / detail
5. fix: SSEP: 修复优化器中起点曲率没有初始化的问题 — tangwenqing / detail
6. fix:修复可能崩溃的bug — wuyanjun110 / detail
7. refactor:优化太阳卸料区挡停的重搜索逻辑 — wuyanjun110 / detail
8. fix: start_pt from last_path. — 5081703.cr / detail
9. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% — tangwenqing / detail
10. fix:连续载入快照崩溃的bug — wuyanjun110 / detail
11. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 — tangwenqing / detail
12. fix: add curvature over limit temp stop. — 5081703.cr / detail
13. fix: curvature_over_limit_stop_coefficient 10.0 — 5081703.cr / detail
14. chore: SSEP minor updates — tangwenqing / detail
15. fix: truck start_pt exception. — 5081703.cr / detail
16. fix:董家口靠边作业的问题 — wuyanjun110 / detail
17. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 — wuyanjun110 / detail
18. feat:曲率超限停车优化 — wuyanjun110 / detail
19. fix:调整曲率超限的滤波参数 — wuyanjun110 / detail
20. fix:曲率超限停车的bug — wuyanjun110 / detail
21. feat: add CalcKappaCostSigmoid. — 5081703.cr / detail
22. fix: SSEP: 集卡进停车位时时候更严格的挂车角度 — tangwenqing / detail
23. feat:travel out 没有一次规划的适配 — wuyanjun110 / detail
24. fix:travel out 没有一次规划，状态机切换的bug — wuyanjun110 / detail
25. fix: SSEP: 修正Rigid truck general builder搜索参数，确保搜索器能具有搜出最大曲率路径的能力。 — tangwenqing / detail
26. fix: using ssep speed_limit for deviation. — 5081703.cr / detail
27. fix: SSEP: 修复优化器中额外前向碰撞距离计算存在误差的问题，解决前港距离前方障碍物太近的问题。 — tangwenqing / detail
28. fix:解决合并代码需要重新编译的问题 — 5081703.cr / detail
29. fix: SSEP: 修复前杠倒车进料堆优化失败的问题。 — tangwenqing / detail
30. fix:修复拼接的bug — 5081703.cr / detail
31. fix: wbca reversing bug. — 5081703.cr / detail
32. refactor调整切换lock的阈值 — wuyanjun110 / detail
33. feat:锁站场景不膨胀尺寸 — wuyanjun110 / detail
34. fix: minimize esdf_map — 5081703.cr / detail
35. fix:修复崩溃的bug — wuyanjun110 / detail
36. fix: dx_norm = path_1_tmp.norm — 5081703.cr / detail
37. fix: ignore lateral percption. — 5081703.cr / detail