Changes

Summary

1. Update jiaxing-dongfangtegang-submodule.jenkinsfile (details)
2. Update map-png.jenkinsfile (details)

Commit 95e911617d356ba11971f7eb73efc504e5ca54ee by weilikang Update jiaxing-dongfangtegang-submodule.jenkinsfile
	params/jiaxing-dongfangtegang-submodule.jenkinsfile
Commit fb10b22b63b9333f293166f9842d9faff4b06470 by weilikang Update map-png.jenkinsfile
	hdmap/map-png.jenkinsfile

Summary

1. feat: 手动rebase交通管制v2 msg变更 (details)

Commit 549daf0fc4e7c8f469ba1807acf334525ddb939b by wuyanjun110 feat: 手动rebase交通管制v2 msg变更
	comm_msgs/msg/Traj.msg

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: 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)
3. chore: SSEP: 跨运车自转逻辑改进 (details)
4. feat: 增加对堆场直接进入的判断逻辑，并优化相关功能 (details)
5. 引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度 (details)
6. 重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能 (details)
7. feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值 (details)
8. feat: SSEP: 支持上下码头面同时进堆场 (details)
9. feat: 调整运动学可行性检查的最大归一化位置和朝向误差 (details)
10. fix: SSEP: 修复集卡多段倒车搜索失败的问题 (details)
11. feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 (details)
12. feat: 添加bulk in 堆场前临时停车功能 (details)
13. 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)
14. 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)
15. feat: clang18 编译优化 (details)
16. fix:崩溃防护，guide line 有效，但speedlimits为空 (details)
17. fix: Keb: 修复终点附近轨迹会有碰撞的问题 (details)
18. fix: SSEP: fix crashing issue (details)
19. chore: Keb-sim: 适配终点选取逻辑 (details)
20. feat:动态上下码头面 直接进堆场场景的优化 (details)
21. feat:添加云端轨迹 挂转角的赋值 (details)
22. fix:堆场前停车，停车原因赋值错误的bug (details)
23. fix:进堆场前停车，motion状态机错误的bug (details)
24. fix:修复keb路径跳变的bug (details)
25. feat:ctrl +shift  左键 可以 把车辆移动到 没有lane的位置上 (details)
26. feat: 添加KEB可视化数据结构及相关功能 (details)
27. feat: 更新CfgFuncSw类的序列化版本，添加新功能支持 (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
	ssep/coarse_search/searcher_builders/rigid_truck_general_searcher_builder.cc
	ssep/scenarios/straddle_carrier_general_planner.h
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。
	ssep/keb_optimizer/cost_features/imv_kinematic_constraint.h
	ssep/keb_optimizer/cost_features/path_length_cost.h
	ssep/keb_optimizer/keb_problem.h
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
	ssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
	ssep/keb_optimizer/imv_keb_optimizer.h
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.h
	ssep/keb_optimizer/keb_problem.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	ssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
	ssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
	ssep/keb_optimizer/cost_features/disk_collision_cost.h
	ssep/keb_optimizer/cost_features/tractor_trailer_kinematic_constraint.h
	ssep/keb_optimizer/cost_features/truck_kinematic_constraint.h
	algorithm/plan/keb_optimizer.cpp
	ssep/keb_optimizer/imv_keb_optimizer.cc
	offboard/keb_path_opt_cli/keb_scene_converter.cc
	tasks/plan/keb_lane_follow_path_task.cpp
Commit d189bbc6258b48ba139a99f51101e0cd19269dc3 by tangwenqing chore: SSEP: 跨运车自转逻辑改进
	ssep/scenarios/straddle_carrier_pick_vehicle_planner.h
Commit 7168dbfa30ffd93062b1608f08d636e57a33d4dd by wuyanjun110 feat: 增加对堆场直接进入的判断逻辑，并优化相关功能
	data/ssep/open_space_ec.cpp
	data/ssep/base_stop_line_filter.cpp
	data/ssep/open_space_ec.hpp
	data/vehicle/lock_station_data.cpp
	data/ssep/base_stop_line_filter.hpp
Commit f5eba086e38f878a9c59460cd274ccfac0bbba6e by wuyanjun110 引入横向规划器选择器与任务条件机制，重构规划器相关逻辑，完善配置与任务调度
	data/ssep/out_yard_junction_ec.cpp
	scenarios/stage.hpp
	scenarios/scenario_interface.hpp
	scenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
	scenarios/task_condition_evaluator.hpp
	config/config_truck/scenario.yaml
	hmi/draw/draw_path_boundary.cpp
	scenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
	data/ssep/field_junction_ec.cpp
	data/boundary/road_boundary.cpp
	scenarios/scenario.cpp
	data/config/cfg_stage.cpp
	scenarios/lane_follow_scenario/lane_follow_stage.cpp
	data/config/cfg_stage.hpp
	scenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
	scenarios/stage.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	scenarios/task_condition_evaluator.cpp
Commit a2fe19adfd84af23f521e6790146fca98c816aaa by wuyanjun110 重构任务选择器与横向规划器选择逻辑，新增窄空间检测功能
	scenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
	scenarios/bulkload_scenario/bulkload_ssep_forward_stage.hpp
	data/config/cfg_stage.hpp
	scenarios/stage.hpp
	scenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
	scenarios/task_condition_evaluator.hpp
	data/config/cfg_func_sw.hpp
	data/config/cfg_stage.cpp
	scenarios/lane_follow_scenario/lane_follow_stage.cpp
	scenarios/task_condition_evaluator.cpp
	scenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
	data/config/cfg_env_const.hpp
	scenarios/stage.cpp
	data/config/cfg_env_const.cpp
	data/config/cfg_func_sw.cpp
	hmi/widget/diagnose.cpp
Commit 31e09a791978ac342db474d9da6246ce4678fe46 by wuyanjun110 feat: 优化目标点计算逻辑，使用当前车辆目的地与最大预瞄距离的最小值
	replayer/replayer_data_process/replayer_data_extraction.cpp
	tasks/plan/keb_lane_follow_path_task.cpp
Commit 6e58a963e9a696edda1a1fbc57114f301c2d47fc by tangwenqing feat: SSEP: 支持上下码头面同时进堆场
	ssep/scenarios/scenario_planner_factory.h
	ssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
	ssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 5c66484117e480a1bf37b534af153741f5102910 by wuyanjun110 feat: 调整运动学可行性检查的最大归一化位置和朝向误差
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
Commit 0dbf3b3c0dd814f60915d79a4e08490a137974c4 by tangwenqing fix: SSEP: 修复集卡多段倒车搜索失败的问题
	ssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 01953a89de69f4ce40476214765121973d3f0c6f by wuyanjun110 feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能
	hmi/draw/draw_map.cpp
	data/ssep/field_junction_ec.cpp
Commit 5c305ed4092e332ef41c2415f0d0c90174ff8ba4 by wuyanjun110 feat: 添加bulk in 堆场前临时停车功能
	data/constrain/disable_stop_range.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/constrain/block_data.cpp
	data/constrain/disable_stop_range.cpp
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。
	ssep/coarse_search/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
	ssep/scenarios/straddle_carrier_general_planner.h
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
	ssep/keb_optimizer/cost_features/ref_line_cost.h
	tasks/plan/keb_lane_follow_path_task.cpp
	ssep/keb_optimizer/rigid_truck_keb_optimizer.cc
	ssep/offboard/ssep_planner_wrapper.cc
	offboard/keb_path_opt_cli/keb_path_opt_cli.cc
	algorithm/plan/keb_optimizer.cpp
	ssep/keb_optimizer/rigid_truck_keb_optimizer.h
	tasks/plan/keb_utils_core.cpp
	ssep/keb_optimizer/keb_problem.h
	offboard/keb_path_opt_cli/keb_scene_converter.cc
	ssep/keb_optimizer/keb_problem.cc
Commit 1b988671fa14d46390c7e72167264eb91bb59f15 by wuyanjun110 feat: clang18 编译优化
	data/obstacle/block.hpp
	data/map/pnc_map/pnc_map_path.cpp
	data/common/trajectory.hpp
	data/common/path_point.hpp
	data/dp_poly_path/comparable_cost.hpp
	data/common/trajectory_point.hpp
	common/util/hdmap_namespace.hpp
	CMakeLists.txt
	data/map/reference/reference_segment.hpp
Commit dca6c98db33487af01a20e3a8e337741b290e6b0 by wuyanjun110 fix:崩溃防护，guide line 有效，但speedlimits为空
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 48d96b1fa2212d2e673a86427ae8c99c58fb86da by tangwenqing fix: Keb: 修复终点附近轨迹会有碰撞的问题
	algorithm/plan/keb_optimizer.cpp
	offboard/keb_path_opt_cli/keb_simulator.cc
Commit bba0f9b0d7636cfd099bed1f7d5a6fd0eaad06f5 by tangwenqing fix: SSEP: fix crashing issue
	ssep/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
	offboard/keb_path_opt_cli/keb_simulator.cc
Commit 7877eff32392d61b24edcfd041e1ccc07f59101e by wuyanjun110 feat:动态上下码头面 直接进堆场场景的优化
	scenarios/task_condition_evaluator.cpp
	data/ssep/open_space_ec.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit d62544f9ee0f56a94a4c24195b03574a26b77cf1 by wuyanjun110 feat:添加云端轨迹 挂转角的赋值
	sink/ros_sink_cloud_trajectory.cpp
Commit f4c924bed3396eccd1d67360cab3d176a0167190 by wuyanjun110 fix:堆场前停车，停车原因赋值错误的bug
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 20fe40a09dfcc324d0d105ec3b5feb1f89049902 by wuyanjun110 fix:进堆场前停车，motion状态机错误的bug
	data/app/fsm/motion_fsm/motion_stop_fsm/motion_stop_fsm.cpp
Commit 83813bf5122f441c9fb043e7bb24ea7a3db54dbf by wuyanjun110 fix:修复keb路径跳变的bug
	algorithm/plan/keb_optimizer.cpp
Commit 48daa21458f0c4904c9c812e96c937f9ce34456c by wuyanjun110 feat:ctrl +shift  左键 可以 把车辆移动到 没有lane的位置上
	hmi/widget/map.cpp
	hmi/common/image_viewer.hpp
	hmi/common/image_viewer.cpp
	hmi/widget/map.hpp
Commit 06aae4d6feedb9c8d36a81dd8e23eb4ff1aeba2b by wuyanjun110 feat: 添加KEB可视化数据结构及相关功能 - 在CfgFuncSw和CfgHmi中添加KEB相关功能开关 - 实现KEB可视化数据的生成和更新 - 在绘制模块中集成KEB上层和下层线段的绘制 - 更新路径优化任务以支持KEB可视化数据
	data/config/cfg_func_sw.cpp
	data/map/pnc_map/pnc_map_path.cpp
	tasks/plan/keb_utils.cpp
	hmi/node_hmi.cpp
	tasks/plan/keb_path_optimize_task.cpp
	tasks/plan/keb_lane_follow_path_task.hpp
	data/plan_frame.hpp
	data/config/cfg_safe_const.hpp
	hmi/draw/draw_perception.cpp
	hmi/draw/draw_all.cpp
	hmi/draw/draw_perception.hpp
	data/plan/keb_visualize_data.hpp
	data/config/cfg_hmi.cpp
	replayer/replayer_data_process/replayer_data_process.cpp
	hmi/replayer_hmi.cpp
	data/config/cfg_hmi.hpp
	tasks/plan/keb_lane_follow_path_task.cpp
	data/config/cfg_func_sw.hpp
	hmi/widget/pnc_mat_shared.cpp
Commit 4482c5612405410d84008ea262418b70bf895a36 by wuyanjun110 feat: 更新CfgFuncSw类的序列化版本，添加新功能支持
	data/config/cfg_func_sw.hpp

Summary

1. feat: 控制日志记录重构 纵向mpc增加热启动关闭polish (details)
2. feat: 放宽阈值 (details)
3. fix: 日志记录地址更改 persistent_solver更改 (details)
4. feat: 对准日志记录分割 (details)
5. feat: 更改日志 (details)
6. feat: 小速度停车距离预估调整 (details)
7. fix: 停车距离预估除0风险 (details)

Commit b7f69bd5c50ddefd4e06f54706cf73185a13f545 by liuhongshuo feat: 控制日志记录重构 纵向mpc增加热启动关闭polish
	algorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
	algorithm/ctrl/lon_controller/truck_creep_controller.hpp
	algorithm/ctrl/lon_controller/truck_creep_controller.cpp
	data/config/cfg_log.hpp
	algorithm/ctrl/lon_controller/imv_lon_log_helper.cpp
	algorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hpp
	node/process/proc/proc_move_step_controller.cpp
	algorithm/ctrl/lat_controller/qp_solver/mpc_solver.hpp
	common/log/spsc_ring_buffer.hpp
	data/config/cfg_parallel.cpp
	data/config/cfg_proc_longctrl.cpp
	data/ctrl/observer_debug_data.cpp
	node/process/proc/proc_longtiude_controller.cpp
	algorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
	common/log/csv_row_builder.hpp
	data/ctrl/longitude_ctrl_debug_data.hpp
	algorithm/ctrl/lon_controller/imv_lon_log_helper.hpp
	data/config/cfg_proc_longctrl.hpp
	algorithm/ctrl/lon_controller/truck_lon_log_helper.hpp
	data/config/cfg_lon_dynamic_mpc.hpp
	algorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
	algorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
	common/log/async_log_writer.cpp
	data/ctrl_frame.hpp
	common/log/log_channel.hpp
	data/ctrl_frame.cpp
	data/config/cfg_parallel.hpp
	common/CMakeLists.txt
	node/logic.cpp
	algorithm/ctrl/lon_controller/sc_creep_controller.cpp
	algorithm/ctrl/lon_controller/imv_creep_controller.cpp
	data/config/cfg_lon_dynamic_mpc.cpp
	data/lon_dynamics_csv_logger.hpp
	data/config/cfg_log.cpp
	data/lon_dynamics_csv_logger.cpp
	algorithm/ctrl/lon_controller/truck_lon_controller.cpp
	algorithm/ctrl/lon_controller/sc_creep_controller.hpp
	algorithm/ctrl/parallel_controller/parallel_controller.cpp
	algorithm/ctrl/parallel_controller/parallel_controller.hpp
	common/log/async_log_writer.hpp
	common/log/log_channel.cpp
	algorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cpp
	data/ctrl/observer_debug_data.hpp
	node/process/prepare/prepare_attr.cpp
	algorithm/ctrl/lon_controller/truck_lon_log_helper.cpp
Commit 16edb1307eef7d30b115c41d9bae87e00bef8761 by liuhongshuo feat: 放宽阈值
	algorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
Commit 1036119bd8e46ff3e7e6b545a0c2fd2ba557ef79 by liuhongshuo fix: 日志记录地址更改 persistent_solver更改
	algorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
	common/log/async_log_writer.hpp
	node/logic.cpp
	test/lon_dynamics_csv_log_test.cpp
	algorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
	data/ctrl_frame.cpp
	common/log/log_channel.hpp
	test/CMakeLists.txt
	algorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hpp
	common/log/async_log_writer.cpp
Commit 825e8cadf26ab773e82286f438170bad83ac5523 by liuhongshuo feat: 对准日志记录分割
	common/log/log_channel.hpp
	data/ctrl_frame.cpp
	data/ctrl_frame.hpp
	common/log/log_channel.cpp
	common/log/async_log_writer.cpp
Commit 526490e36ef0e42da0f63e208bca09f7b68e377e by liuhongshuo feat: 更改日志
	data/lon_dynamics_csv_logger.cpp
	data/lon_dynamics_csv_logger.hpp
	data/ctrl_frame.cpp
	data/ctrl/observer_debug_data.cpp
Commit c5fb4abc8945e0cda7c1444fbd62443e1723220d by liuhongshuo feat: 小速度停车距离预估调整
	math/identification/parking_distance_estimator.hpp
	node/process/prepare/prepare_attr.cpp
	algorithm/ctrl/lon_controller/longitude_controller.cpp
	data/config/cfg_parking_distance.hpp
	math/identification/parking_distance_estimator.cpp
	data/config/cfg_parking_distance.cpp
	data/config/cfg_log.cpp
	node/logic.cpp
Commit f2d7bf06fcddb4e3183488676e76e6401dcbd55e by liuhongshuo fix: 停车距离预估除0风险
	math/identification/parking_distance_estimator.cpp

Summary

1. feat_out: 按照车道数不同切分的时候，在切分之后，两段都需要前行。 (details)

Commit fce10de18d6bc75fd5f820bcc9f9713993f91006 by caoxue feat_out: 按照车道数不同切分的时候，在切分之后，两段都需要前行。
	routing/result_generator.cc

Summary

1. 洋浦检出区加新灯杆过滤区 (details)

Commit 7583be6a19ecf1eb1ceb70ed1dee5c60f577a2c6 by liuwenjing 洋浦检出区加新灯杆过滤区
	params/localization_region.yaml