Changes

#165 (Feb 10, 2026 1:29:02 PM)

1. Update vehicleInfo.groovy — weilikang / detail
2. Update vehicleInfo.groovy — weilikang / detail
3. Update vehicleInfo.groovy — weilikang / detail
4. Update vehicleInfo.groovy — weilikang / detail
5. Update vehicleInfo.groovy — weilikang / detail

#165 (Feb 10, 2026 1:29:02 PM)

1. Add new file — weilikang / detail
2. Update polaris.jenkinsfile — weilikang / detail
3. Update polaris.jenkinsfile — weilikang / detail
4. Update tc397_ota.jenkinsfile — weilikang / detail
5. Update ningbozhoushan-jilipiantou-submodule.jenkinsfile — weilikang / detail
6. Update ningbozhoushan-jilipiantou-submodule.jenkinsfile — weilikang / detail
7. Add new file — weilikang / detail
8. Update daxie-submodule.jenkinsfile — weilikang / detail
9. Update daxie-submodule.jenkinsfile — weilikang / detail
10. Update beijing-shanqihuanwei-submodule.jenkinsfile — weilikang / detail
11. Update guangxi-youyiguan-submodule.jenkinsfile — weilikang / detail
12. Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail
13. Update jining-liangshan-submodule.jenkinsfile — weilikang / detail
14. Update qingdao-dagang-submodule.jenkinsfile — weilikang / detail
15. Update qingdao-qiangang-submodule.jenkinsfile — weilikang / detail
16. Update qingdao-xilian-submodule.jenkinsfile — weilikang / detail
17. Update qinhuangdao-baoshishun-submodule.jenkinsfile — weilikang / detail
18. Update xiamen-submodule.jenkinsfile — weilikang / detail
19. Update yiwu-suxi-submodule.jenkinsfile — weilikang / detail
20. Add new file — weilikang / detail
21. Update hunanceshi-sanyizixie-submodule.jenkinsfile — weilikang / detail
22. Update hunanceshi-sanyzixie-submodule.jenkinsfile — weilikang / detail
23. Update hunanceshi-sanyzixie-submodule.jenkinsfile — weilikang / detail
24. Update map-png.jenkinsfile — weilikang / detail

#165 (Feb 10, 2026 1:29:02 PM)

1. feat:在pnc_debug中增加observer_debug — liuhongshuo / detail

#165 (Feb 10, 2026 1:29:02 PM)

1. fix:修复甩正点的bug — tangwenqing / detail
2. feat:适配大谢右转进堆场 — wuyanjun110 / detail
3. feat: ssep 威海多段倒车支持按键拉直功能 — tangwenqing / detail
4. fix: del omp.h — 5081703.cr / detail
5. feat:搜索尺寸参数赋值 — wuyanjun110 / detail
6. fix:车辆参数赋值错误的bug — wuyanjun110 / detail
7. fix: smooth mode in yard. — 5081703.cr / detail
8. feat:调整counter和进堆场障碍物考虑的条件 — wuyanjun110 / detail
9. feat:适配缩小根据距离 — wuyanjun110 / detail
10. feat:单车道区分左右边界 — wuyanjun110 / detail
11. fix:大谢单车道，低贝位判断的bug — wuyanjun110 / detail
12. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 — tangwenqing / detail
13. fix: SSEP: fix GPU search bug — tangwenqing / detail
14. feat:into 都使用双向搜索 — wuyanjun110 / detail
15. feat:龙门吊位置计算的bug — wuyanjun110 / detail
16. feat:优化进堆场的约束 — wuyanjun110 / detail
17. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 — tangwenqing / detail
18. feat:适配 utrun掉头 — wuyanjun110 / detail
19. chore:修复.gitignore — wuyanjun110 / detail
20. feat: SSEP: 大榭、杨浦的SSEP场景从配置文件传入。支持添加参数切换到gpu搜索。 — tangwenqing / detail
21. fix: SSEP: fix GPU search bug — tangwenqing / detail
22. fix: SSEP: 修复大榭进堆场车体距离边界太近的问题 — tangwenqing / detail
23. feat:添加通过lane id 配置不绕行区域的功能 — wuyanjun110 / detail
24. feat:大谢进堆场配置甩正的位置 — wuyanjun110 / detail
25. feat:适配 utrun掉头 — wuyanjun110 / detail
26. feat:添加通过lane id 配置不绕行区域的功能 — wuyanjun110 / detail
27. feat:适配大谢右转进堆场 — wuyanjun110 / detail
28. feat:适配缩小根据距离 — wuyanjun110 / detail
29. feat:调整counter和进堆场障碍物考虑的条件 — wuyanjun110 / detail
30. feat:单车道区分左右边界 — wuyanjun110 / detail
31. fix:大谢单车道，低贝位判断的bug — wuyanjun110 / detail
32. feat:优化进堆场的约束 — wuyanjun110 / detail
33. feat:龙门吊位置计算的bug — wuyanjun110 / detail
34. Auto stash before cherrypick of "feat:龙门吊位置计算的bug" — wuyanjun110 / detail
35. chore:修复.gitignore — wuyanjun110 / detail
36. feat:大谢进堆场配置甩正的位置 — wuyanjun110 / detail
37. fix: SSEP: 解决gpu编译问题 — tangwenqing / detail
38. fix: SSEP: gpu compile error — tangwenqing / detail
39. fix:修复编译报错 — wuyanjun110 / detail
40. fix:修复编译报错 — wuyanjun110 / detail
41. feat:修复编译的warning — wuyanjun110 / detail
42. fix: SSEP: 修复“最后一段不检测碰撞”功能遗漏的提交 — tangwenqing / detail
43. chore: SSEP: update unit tests — tangwenqing / detail
44. fix: SSEP: 修复地图元素"is_closed"标志位转换错误的问题 — tangwenqing / detail
45. feat:编译warnig — wuyanjun110 / detail
46. feat:锁站限速过滤 — wuyanjun110 / detail
47. fix: using smooth mode when opt failed. — 5081703.cr / detail
48. fix: SSEP: 修复路径距离参考线太远的问题。 — tangwenqing / detail
49. fix: SSEP: 修复集卡多段倒车搜索的参数配置错误 — tangwenqing / detail
50. feat:添加忽略文件 — wuyanjun110 / detail
51. fix: SSEP: 修复车道线被处理为闭合多边形的bug（太阳纸业搜索失败），修复imv 进停车位因为终点约束导致路径异常的问题。 — tangwenqing / detail
52. feat:align过程中,拒绝直线步进 — wuyanjun110 / detail
53. fix:程序启动直接搜索带来的崩溃问题 — wuyanjun110 / detail
54. chore: SSEP: 改进集卡多段倒车拉直轨迹 — tangwenqing / detail
55. chore: SSEP: 提升GPU进堆场搜索成功率 — tangwenqing / detail
56. feat:修复搜索失败报警的等级 — wuyanjun110 / detail
57. feat:编译包warning的bug — wuyanjun110 / detail
58. feat:进堆场约束调整，并且调整low bay type — wuyanjun110 / detail
59. fix:修复虚拟场桥低贝判断的bug — wuyanjun110 / detail
60. feat:添加忽略文件 — wuyanjun110 / detail
61. feat:align过程中,拒绝直线步进 — wuyanjun110 / detail
62. fix:程序启动直接搜索带来的崩溃问题 — wuyanjun110 / detail
63. feat:修复搜索失败报警的等级 — wuyanjun110 / detail
64. feat:编译包warning的bug — wuyanjun110 / detail
65. feat:进堆场约束调整，并且调整low bay type — wuyanjun110 / detail
66. fix:修复虚拟场桥低贝判断的bug — wuyanjun110 / detail
67. chore: ssep: 高贝位进堆场时，只在终点的道路边界侧添加约束。 — tangwenqing / detail
68. fix:修复编译报错的bug — wuyanjun110 / detail
69. fix: SSEP: 固定编译时的依赖顺序 — tangwenqing / detail
70. fix: SSEP: 固定编译时的依赖顺序 — wuyanjun110 / detail
71. fix: SSEP: 固定编译时的依赖顺序 — wuyanjun110 / detail
72. chore: SSEP: 改进多段倒车拉直轨迹 — tangwenqing / detail
73. feat:缩短跟车距离的优化 — wuyanjun110 / detail
74. refactor:优化起始点的选择 — wuyanjun110 / detail
75. feat:优化杨浦进单侧堆场的边界 — wuyanjun110 / detail
76. feat:打开预测消息的发送 — wuyanjun110 / detail
77. feat:参考线不实时刷新的bug — wuyanjun110 / detail
78. feat:云端预测轨迹s赋值的bug — wuyanjun110 / detail
79. fix:修复崩溃的bug — wuyanjun110 / detail
80. fix:调整debug 字段 — wuyanjun110 / detail
81. feat:添加进堆场的超视距障碍物 — wuyanjun110 / detail
82. fix:修复起始点车辆有转角，路径异常的bug — wuyanjun110 / detail
83. feat: SSEP: 增加头部不参与优化的区域设置接口。 — tangwenqing / detail
84. 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 — tangwenqing / detail
85. fix: using maximum speed — 5081703.cr / detail
86. fix:修复openspace 误重规划的bug — wuyanjun110 / detail
87. feat: Add truck multi seg planner — tangwenqing / detail
88. feat: SSEP: 刚性卡车搜索终点匹配从车道匹配改为参考线匹配 — tangwenqing / detail
89. fix:极限变道 replan的bug — wuyanjun110 / detail
90. refactor:删除多余的日志打印 — wuyanjun110 / detail
91. fix: smooth mode bug — 5081703.cr / detail
92. fix:优化动态下码头面搜索终点选取的问题 — wuyanjun110 / detail
93. refactor:优化杨浦低贝位约束 — wuyanjun110 / detail
94. feat: SSEP: 增加末端微调采样，解决杨浦进堆场曲率跳变问题。 — tangwenqing / detail
95. chore: SSEP: 刚性卡车多段路径倒车时候更加原理后方障碍物 — tangwenqing / detail
96. feat:添加 Yard Name的显示 — wuyanjun110 / detail
97. feat:终点低贝位 缩小挂甩正的角度 — wuyanjun110 / detail
98. feat:变道搜索搜索失败不停车 — wuyanjun110 / detail
99. feat:大谢右转进堆场添加参数，适配仿真场景 — wuyanjun110 / detail
100. feat:更改reuse的次数 — wuyanjun110 / detail
101. fix: SSEP: 解决高贝位进堆场轨迹异常的问题 — tangwenqing / detail
102. feat:右转进低贝位拉值角度调整 — wuyanjun110 / detail
103. feat:卡车 车辆方向修改为路径方向 — wuyanjun110 / detail
104. fix: SSEP: 修复集卡普通搜索启发项错误的问题 — tangwenqing / detail
105. fix: SSEP: 过滤明显存在碰撞的集卡进堆场轨迹 — tangwenqing / detail
106. fix: SSEP: 回退集卡普通进堆场“超近道”的问题 — tangwenqing / detail
107. feat:进堆场偏离参考线过多，不触发禁停的bug — wuyanjun110 / detail
108. feat:进堆场口的限速参数独立出来 — wuyanjun110 / detail
109. feat:区分堆场的偏移和场桥的偏移 — wuyanjun110 / detail
110. feat: SSEP: 变道搜索时使用standby_guide_line当做引导线。 — tangwenqing / detail
111. feat:添加junctionid的显示 — wuyanjun110 / detail
112. 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 — wuyanjun110 / detail
113. fix: SSEP: 修复集卡搜索轨迹不合理导致优化画龙的问题 — tangwenqing / detail
114. feat: SSEP: 非低贝位进堆场使用拉直点逻辑 — tangwenqing / detail
115. feat:龙须点碰撞检测添加开关 — wuyanjun110 / detail
116. refactor:1.调整进堆场的限速  2. 调整低贝位的距离 — wuyanjun110 / detail
117. feat: SSEP 集卡在NORMAL,INYARD,OUTYARD,SEASIDE,BRIDGE场景强制使用参考线。 — tangwenqing / detail
118. fix:无法三次对准的bug — wuyanjun110 / detail
119. 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。 — tangwenqing / detail
120. feat:优化og点的碰撞检测 — wuyanjun110 / detail
121. fix: SSEP: 修复动态搜索使用standby guideline作为参考线轨迹异常的问题 — tangwenqing / detail
122. fix: 优化友谊关倒车路径，更符合pass point — tangwenqing / detail
123. 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 — wuyanjun110 / detail
124. feat:bulk场景判断的距离阈值调整成255米 — wuyanjun110 / detail
125. feat:单侧堆场默认左侧放箱子 — wuyanjun110 / detail
126. feat:进堆场 不是低贝位i的时候取消外侧的约束 — wuyanjun110 / detail
127. fix: 优化友谊关倒车路径，更符合pass point — tangwenqing / detail
128. 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。 — tangwenqing / detail
129. fix: SSEP: fix typo — tangwenqing / detail
130. feat:优化og的处理 — wuyanjun110 / detail
131. fix:修复绘制的bug — wuyanjun110 / detail
132. fix: SSEP: 提升远距离绕桥腿成功率 — tangwenqing / detail
133. feat:杨浦适配B场 — wuyanjun110 / detail
134. 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 — wuyanjun110 / detail
135. feat: SSEP: 增加 is_blocked_by_shore_crane 和 use_hard_constraint 参数 — tangwenqing / detail
136. chore: mionr update — tangwenqing / detail
137. fix:杨浦 动态搜索 + 进堆场场景 路径拼接的bug — wuyanjun110 / detail

#165 (Feb 10, 2026 1:29:02 PM)

1. feat:重构录制 — haoxiangtao / detail
2. fix:增加大榭配置&&修复清空容器的错误 — haoxiangtao / detail
3. fix:修复数据存储容器错误的问题 — haoxiangtao / detail

#164 (Jan 27, 2026 10:47:03 AM)

1. fix: smooth mode in yard. — wuyanjun110 / detail
2. feat:优化进堆场的约束 — wuyanjun110 / detail
3. feat:into 都使用双向搜索 — wuyanjun110 / detail
4. feat:龙门吊位置计算的bug — wuyanjun110 / detail

#163 (Jan 25, 2026 8:04:43 PM)

1. fix: add gjk — 5081703.cr / detail
2. fix: add DECELERATION. — 5081703.cr / detail
3. fix: forward_simulation bug. — 5081703.cr / detail
4. fix: lka_deviation using yard_name. — 5081703.cr / detail
5. fix: hmi load map. — 5081703.cr / detail
6. fix: deceleration state optimization. — 5081703.cr / detail
7. fix: semantic_type in replayer. — 5081703.cr / detail
8. fix: forward_simulator bug. — 5081703.cr / detail
9. fix: decision logic. — 5081703.cr / detail
10. fix: decision parameters. — 5081703.cr / detail
11. fix: update lka_deviation_region. — 5081703.cr / detail
12. fix: add deviation around stacker/dest. — 5081703.cr / detail
13. fix: wbca path length — 5081703.cr / detail
14. fix:add driving_corridor_ogm_dilate_size — 5081703.cr / detail
15. fix: boundary shift in yard. — 5081703.cr / detail
16. fix: add usef_func_after_destination_wbca_no_shift_mode. — 5081703.cr / detail
17. fix: lattice error for lon_decision deceleration. — 5081703.cr / detail
18. fix: shif out yard. — 5081703.cr / detail
19. fix: shift into&out yard — 5081703.cr / detail
20. fix: lattice error for lon_decision deceleration. — 5081703.cr / detail
21. fix: lon_decision for car. — 5081703.cr / detail
22. fix: using backward obstacle in lane changing lon_decision. — 5081703.cr / detail
23. fix: lka deviation for out_yard region. — 5081703.cr / detail
24. fix: using last_path when out_yard wbca failed. — 5081703.cr / detail
25. fix: correct imv crab mode conditions. — 5081703.cr / detail
26. fix: lka deviation through yard. — 5081703.cr / detail
27. fix: disable wbca smooth mode for seaside buffer. — 5081703.cr / detail
28. fix: extract lane_pts msg in replayer. — 5081703.cr / detail
29. fix:修复崩溃的bug — wuyanjun110 / detail
30. fix:修复崩溃的bug — wuyanjun110 / detail
31. refactor:优化关路禁停 — wuyanjun110 / detail
32. chore: ssep: 1.增加进堆场时终点选择逻辑 - 优先选择宽阔的区域作为终点，提前把挂车甩直。2. keb_optimizer加上最后一段直线的约束 — tangwenqing / detail
33. feat: ssep: 新增低贝位搜索模式 -- 在进入窄通道前把挂甩直。适配杨浦场景。 — tangwenqing / detail
34. fix: max_acc = 0.5 for wbca velocity reference. — 5081703.cr / detail
35. fix: lane_pts deviation calculation. — 5081703.cr / detail
36. feat: lane_pts debug  msg. — 5081703.cr / detail
37. fix: hmi load map. — 5081703.cr / detail
38. feat_out: path_opt in replayer. — 5081703.cr / detail
39. fix: velocity profile exception. — 5081703.cr / detail
40. fix: delete history in smooth mode. — 5081703.cr / detail
41. fix:修复封路变道的bug — wuyanjun110 / detail
42. fix:引桥前变道的bug — wuyanjun110 / detail
43. fix:可能崩溃的bug — wuyanjun110 / detail
44. fix:修复合并的bug — wuyanjun110 / detail
45. fix:修复合并的bug — wuyanjun110 / detail
46. fix: using maximum vehicle size in WBCA — 5081703.cr / detail
47. fix:人工对准误创建约束 — wuyanjun110 / detail
48. fix: abandon  last segment in wbca. — 5081703.cr / detail
49. fix: wbca debug msg. — 5081703.cr / detail
50. fix: end_velocity for wbca calc exception. — 5081703.cr / detail
51. fix: velocity profile exception. — 5081703.cr / detail
52. fix: add wbca debug var. — 5081703.cr / detail
53. fix: add lateral acc cost. — 5081703.cr / detail
54. fix: add wbca cost and time_consuming. — 5081703.cr / detail
55. fix: add wbca cost and time_consuming. — 5081703.cr / detail
56. fix: add lateral acc cost. — 5081703.cr / detail
57. feat:添加根据定位值的倒车防护，防治对准时，跟着桥走. — wuyanjun110 / detail
58. fix:修复连续普通路口搜索的bug — wuyanjun110 / detail
59. fix: wbca bd expanding. — 5081703.cr / detail
60. feat:调整搜索终点位置 — wuyanjun110 / detail
61. feat:堆高机作业关路重叠时，合并 — wuyanjun110 / detail
62. feat:park lock下 不校验地图 — wuyanjun110 / detail
63. feat:调整出堆场口的约束创建 — wuyanjun110 / detail
64. fix:修复因为距离阈值，带来场景识别错误的bug — wuyanjun110 / detail
65. fix:修复终点距离计算的bug — wuyanjun110 / detail
66. fix:修复海润进弯道后第一个停车位停不正的bug — wuyanjun110 / detail
67. fix:修复误触发open space的bug — wuyanjun110 / detail
68. refactor:优化动态搜索限速 — wuyanjun110 / detail
69. feat: lon_decision from SQ — 5081703.cr / detail
70. fix: add min_safe_ttc — 5081703.cr / detail
71. fix: v_min_coef = 9.9 wbca — 5081703.cr / detail
72. fix: disable dynamic and steering speed constraints — 5081703.cr / detail
73. feat:适配大港ssep — wuyanjun110 / detail
74. fix:堆场口禁停异常的bug — wuyanjun110 / detail
75. feat: add drving_corridor_ogm_dilate_size_in_yard — 5081703.cr / detail
76. fix: start up boundary optimization. — 5081703.cr / detail
77. fix: stacker crane wbca smooth mode thr. — 5081703.cr / detail
78. feat: low bay operation smooth — 5081703.cr / detail
79. fix: wbca smoth_mode route interval — 5081703.cr / detail
80. fix: disable smooth mode in yard. — 5081703.cr / detail
81. feat:进堆场边界优化 — wuyanjun110 / detail
82. fix:ssep搜索失败的bug — wuyanjun110 / detail
83. 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
84. feat:动态搜索考虑不可形式区域 — wuyanjun110 / detail
85. fix:终点在堆场出口，边界的bug — wuyanjun110 / detail
86. feat:调整 hfsm status中cur lane id的逻辑 — wuyanjun110 / detail
87. fix: truck wbca replayer debug. — 5081703.cr / detail
88. feat:优化cur laneid的赋值 — wuyanjun110 / detail
89. fix: merge bug. — 5081703.cr / detail
90. fix:搜索起点太远的问题 — wuyanjun110 / detail
91. feat:适配新的region — wuyanjun110 / detail
92. fix:修复变道过程中，更新laneid的bug — wuyanjun110 / detail
93. refactor:出堆场的起始点从参考线上选取 — wuyanjun110 / detail
94. feat: 添加lowbag 判断函数 — wuyanjun110 / detail
95. feat:添加clangd的配置文件 — wuyanjun110 / detail
96. feat:调整低贝位判断的逻辑，低贝位判断统一FlowController里面进行 — wuyanjun110 / detail
97. feat:规划路径和ssep路径不一致的问题分析 — wuyanjun110 / detail
98. feat:适配clang — wuyanjun110 / detail
99. refactor:适配clang编译 — wuyanjun110 / detail
100. feat:赋值的bug — wuyanjun110 / detail
101. fix:适配clang的bug — wuyanjun110 / detail
102. fix:修复甩正点的bug — wuyanjun110 / detail
103. feat:适配clang — wuyanjun110 / detail
104. feat:甩正点距离适配 — wuyanjun110 / detail
105. fix:修复路径跳变的bug — wuyanjun110 / detail
106. fix: using LD v1 — 5081703.cr / detail
107. feat:适配大谢右转进堆场 — wuyanjun110 / detail
108. feat:适配缩小根据距离 — wuyanjun110 / detail
109. feat:调整counter和进堆场障碍物考虑的条件 — wuyanjun110 / detail
110. feat:单车道区分左右边界 — wuyanjun110 / detail
111. fix:大谢单车道，低贝位判断的bug — wuyanjun110 / detail