Build #260 (Mar 4, 2026 9:49:30 AM)

	Changes Update vehicleInfo.groovy (details) Update vehicleInfo.groovy (details) Changes feat_out:增加车辆状态字段 (details) feat_out:增加剩余续航里程 (details) feat:在pnc_debug中增加observer_debug (details) feat:在pnc_debug中增加observer_debug (details) feat_out:添加tcu2vehicle消息 (details) fix:类型错误 (details) feat:ads command里面添加步进间隔的字段 (details) feat:添加脱困模式的字段 (details) feat:添加脱困模式的字段 (details) feat:云控语音控制消息 (details) feat:在pnc_debug中增加observer_debug (details) note_out: 添加车挂信息（云控输入） (details) feat:lonmpc (details) feat: mass estimation debug (details) fix:调整pnc_debug观测项 (details) feat:油门标定消息 (details) feat:增加观测 (details) feat:添加挂尺寸相关字段 (details) feat:删除多余的字段 (details) feat_out:外设操作命令修改 (details) feat:添加挂尺寸相关字段 (details) feat:删除多余的字段 (details) feat_out:增加夹爪控制及反馈 (details) fix:pnc_debug/observer_debug更改 (details) feat_out:增加剩余续航里程字段 (details) Changes feat_out:增加接收时间戳输出 (details) feat_out:增加红绿灯log (details) feat_out:修改相位判断条件 (details) feat_out:另一个判断条件 (details) Changes fix_out: 开启enable_s_turn_as_straight_forward_的情况下，s弯cost按照直道去进行优先级调整 (details) Changes chore: ssep: 高贝位进堆场时，只在终点的道路边界侧添加约束。 (details) fix: SSEP: 固定编译时的依赖顺序 (details) chore: SSEP: 改进多段倒车拉直轨迹 (details) feat:缩短跟车距离的优化 (details) refactor:优化起始点的选择 (details) feat:优化杨浦进单侧堆场的边界 (details) feat:打开预测消息的发送 (details) feat:参考线不实时刷新的bug (details) feat:云端预测轨迹s赋值的bug (details) fix:修复崩溃的bug (details) fix:调整debug 字段 (details) feat:添加进堆场的超视距障碍物 (details) fix:修复起始点车辆有转角，路径异常的bug (details) feat: SSEP: 增加头部不参与优化的区域设置接口。 (details) fix: SSEP: 修复集卡普通搜索路径起点位于极窄的通道时路径可能画龙的问题 (details) fix: using maximum speed (details) fix:修复openspace 误重规划的bug (details) feat: Add truck multi seg planner (details) feat: SSEP: 刚性卡车搜索终点匹配从车道匹配改为参考线匹配 (details) fix:极限变道 replan的bug (details) refactor:删除多余的日志打印 (details) fix: smooth mode bug (details) fix:优化动态下码头面搜索终点选取的问题 (details) refactor:优化杨浦低贝位约束 (details) feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。 (details) chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物 (details) feat:添加 Yard Name的显示 (details) feat:终点低贝位缩小挂甩正的角度 (details) feat:变道搜索搜索失败不停车 (details) feat:大谢右转进堆场添加参数，适配仿真场景 (details) feat:更改reuse的次数 (details) fix: SSEP: 解决高贝位进堆场轨迹异常的问题 (details) feat:右转进低贝位拉值角度调整 (details) feat:卡车车辆方向修改为路径方向 (details) fix: SSEP: 修复集卡普通搜索启发项错误的问题 (details) fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹 (details) fix: SSEP: 回退集卡普通进堆场“超近道”的问题 (details) feat:进堆场偏离参考线过多，不触发禁停的bug (details) feat:进堆场口的限速参数独立出来 (details) feat:区分堆场的偏移和场桥的偏移 (details) feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。 (details) feat:添加junctionid的显示 (details) feat:没有岸桥碰撞的时候也打开岸桥搜索。然后根据是否碰撞切换进入场景的距离 (details) fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题 (details) feat: SSEP: 非低贝位进堆场使用拉直点逻辑 (details) feat:龙须点碰撞检测添加开关 (details) refactor:1.调整进堆场的限速 2. 调整低贝位的距离 (details) feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。 (details) fix:无法三次对准的bug (details) fix: SSEP: 集卡普通搜索使用更严格的车挂判断标准。防止后续优化不收敛。 (details) feat:优化og点的碰撞检测 (details) fix: SSEP: 修复动态搜索使用standby guideline作为参考线轨迹异常的问题 (details) fix: 优化友谊关倒车路径，更符合pass point (details) feat:1. ogm精细碰撞检测添加开关2. ogm高度分层添加更多层3.进堆场过程中，xx重新规划，扩展边界，解决pjpo求解失败的问题4.添加进堆场虚拟停止线附近的限速 (details) feat:bulk场景判断的距离阈值调整成255米 (details) feat:单侧堆场默认左侧放箱子 (details) feat:进堆场不是低贝位i的时候取消外侧的约束 (details) fix: 优化友谊关倒车路径，更符合pass point (details) fix: SSEP: 优化集卡非低贝位进堆场路径。全路径开启keb优化+终点扰动。恢复上个版本可以“小角度斜着进堆场”的特性。 (details) fix: SSEP: fix typo (details) feat:优化og的处理 (details) fix:修复绘制的bug (details) fix: SSEP: 提升远距离绕桥腿成功率 (details) feat:杨浦适配B场 (details) feat: 1. 绕跷腿搜索标志位 2.右转进堆场的强制用约束的标志位 (details) feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 (details) chore: mionr update (details) fix:杨浦动态搜索 + 进堆场场景路径拼接的bug (details) fix:3 4 阶段对准时,不能切换creep的bug (details) feat:og碰撞的优化 (details) feat:进堆场的优化 (details) feat:关闭debug信息 (details) feat:junction弯道区间计算的bug (details) feat:纵一路边上的转场临停修改判断阈值 (details) fix:修复误变道的问题 (details) feat:搜索的时候是否考虑静态障碍物添加开开关 (details) fix:龙须点处理的bug (details) fix:修复龙须点处理的bug (details) feat:调整单车道堆场的约束 (details) fix:没有路径，并且在弯道前，ssep无法搜索的bug (details) feat:优化场桥防护 (details) fix: lattice wbca velocity reference bug. (details) fix: send 50m path to control in bulk state. (details) fix: delete submodules (details) fix: serailize params for wbca (details) fix: wbca params serialization bug (details) fix: Trajectory MatchByt bug. (details) fix: build bug (details) Changes fix: cmake using clang. (details) feat: 增加TCS功能 (details) feat：高精轮速对准和大转向时跟踪优化 (details) feat: 解决低速跟踪差的问题 (details) optimize PID integral and TCS (details) feat: 对准日志存储位置更改 (details) Changes 添加gitignore文件 (details) 地图过滤宽度 (details) note_out: 洋浦吊具边界区域扩宽 (details) note_out: 边缘检出区的点也作为吊具点 (details) 洋浦吊具区剔除灯杆 (details)
	Started by user suyalei
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