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Changes

Summary

  1. feat:imv 变道的安全校验参数化 (details)
  2. feat:添加绕行状态机 (details)
  3. feat:添加变道状态机状态 (details)
  4. Revert "feat:imv 变道的安全校验参数化" (details)
  5. fix: disable wbca smooth mode for seaside buffer. (details)
  6. fix: 修复董家口imv pull over角度偏差过大的问题 (details)
  7. fix:修复终点前变道的bug (details)
  8. feat:添加参数 直行的junction 是否用路口的边界 (details)
  9. fix:road 级别的可行驶范围的bug (details)
  10. feat:适配董分进堆场边界 (details)
  11. fix: routing extending backward for bend. (details)
  12. fix:可能崩溃的bug (details)
  13. fix:修复封路变道的bug (details)
  14. fix:引桥前变道的bug (details)
  15. fix:变道的bug (details)
  16. fix:修复合并的bug (details)
  17. fix:修复合并的bug (details)
  18. feat:调整出堆场口的约束创建 (details)
  19. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
  20. fix: wbca crash issue. (details)
  21. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
  22. fix: crash issue. (details)
  23. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
  24. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
  25. feat: SSEP增加IMV进堆场场景 (details)
  26. chore: SSEP: 调试IMV路径 (details)
  27. fix:太阳纸业 出库， ssep路径匹配的bug (details)
  28. fix:太阳纸业 出库， ssep路径匹配的bug (details)
  29. fix: SSEP 修复proto版本不兼容的问题 (details)
  30. fix:修复ttc预测的bug (details)
  31. fix:修复ttc预测的bug (details)
  32. Revert "feat:暂时屏蔽container size 变量" (details)
  33. fix: reversing car bulk scenario. (details)
  34. fix:修复程序运行的bug (details)
  35. feat:搜索尺寸参数赋值 (details)
  36. fix:车辆参数赋值错误的bug (details)
Commit 88a62ba544877c14ff20e869db1ea2b1e2dc45b7 by wuyanjun110
feat:imv 变道的安全校验参数化

The file was modifieddata/config/cfg_func_sw.hpp
Commit a6950254162be0253743a4747e23fa92c1583850 by wuyanjun110
feat:添加绕行状态机

The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit 3781b45213d660a6ce54d99e7e7c1a012f80f6ef by wuyanjun110
feat:添加变道状态机状态
The file was modifiedsink/ros_sink_ads_hfsm_state.cpp
Commit 81b3364473b2c81f0fe8d64aa77ff8dce74ae80e by wuyanjun110
Revert "feat:imv 变道的安全校验参数化"

This reverts commit 88a62ba544877c14ff20e869db1ea2b1e2dc45b7.
The file was modifieddata/config/cfg_func_sw.hpp
Commit b7bddf1e4a02578d76a1aedd8cddde193887e4ea by 5081703.cr
fix: disable wbca smooth mode for seaside buffer.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 82824991dff93a733bc464edcda9bef36530dcf7 by tangwenqing
fix: 修复董家口imv pull over角度偏差过大的问题

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
Commit 52cd08939052fe27f92b6138af2c8545fa757991 by wuyanjun110
fix:修复终点前变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 58e71beb6ecb7b09ad1f3dcc14ff6a021f9c706d by wuyanjun110
feat:添加参数 直行的junction 是否用路口的边界
The file was modifieddata/boundary/road_boundary.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit 84365e090174369e3071e788df4f3a9a5c47f1db by wuyanjun110
fix:road 级别的可行驶范围的bug

The file was modifieddata/map/pnc_map/pnc_map_helper.cpp
Commit c286d96cd0b20fbe7504f5858e245fc2dc264f5a by wuyanjun110
feat:适配董分进堆场边界

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit d13f020e2a5745bf6b232eef5a9631ea4ccfcbdb by wuyanjun110
fix: routing extending backward for bend.

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 738aaaba5f439f2d4a28b77838a9ea5a683e56e3 by wuyanjun110
fix:可能崩溃的bug
The file was modifieddata/plan/switch_data.cpp
Commit 7f28a0847eac1d83d25da318dd33595b7654d0b2 by wuyanjun110
fix:修复封路变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit d34c973a3b488e38a50e8fb80883a99a016c0702 by wuyanjun110
fix:引桥前变道的bug

The file was modifieddata/plan/switch_data.cpp
Commit c49619cffafe7c6fa46f5a961cd4d0ca5ac3d2dc by wuyanjun110
fix:变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 6c32fe6149effdf03a337fd1709353a36456cce6 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit 069ea6786697010789b21ee0541a48cd1b5b3bb9 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit 6f5c230d06ee1185d110b1bff6dfc7294ccd484e by wuyanjun110
feat:调整出堆场口的约束创建

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit e3fb4e9e3f7da3447a7b8aa2aa26b82f25f3636f by tangwenqing
fix: SSEP: 修复IMV进充电桩方向错误的问题
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 5d00ecb86c804df8745308b2c294f93c94b525c4 by 5081703.cr
fix: wbca crash issue.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit b7464186bc25420e5156da1c23655e3fe598f8ce by wuyanjun110
fix:修复带有bulk 途经点， opensspce 不搜索的bug
The file was modifieddata/scenario/scenario_planner_condition.cpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 47dd1e17e3b7a1cacfa8af95d3a50e451c387dc1 by wuyanjun110
fix: crash issue.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 2d87be158756a6bbced71e8e620cae86dfa1d273 by tangwenqing
feat: 增加ssep-heatnet-2.0训练场景生成器
The file was addedssep/offboard/ssep_planner_wrapper.h
The file was removedssep/offboard/tools/scene_data_generator/conf/scene_conf.yaml
The file was modifiedssep/maps/ogm.cc
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.cc
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/ssep_planner.cc
The file was addedssep/offboard/generate_scene_data/protos/path.proto
The file was removedssep/offboard/tools/scene_data_generator/utils.h
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.cc
The file was addedssep/offboard/generate_scene_data/trajectory_provider/search_based_trajectory_provider.h
The file was addedssep/offboard/generate_scene_data/conf/scene_conf.yaml
The file was addedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/state_augment_util.h
The file was addedssep/offboard/generate_scene_data/utils.h
The file was removedssep/offboard/tools/scene_data_generator/scene_yaml_reader.h
The file was removedssep/offboard/tools/scene_data_generator/state_augment_util.h
The file was removedssep/offboard/tools/scene_data_generator/generate_scene_data_cli.cc
The file was addedssep/offboard/generate_scene_data/CMakeLists.txt
The file was addedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was removedssep/offboard/tools/scene_data_generator/data_structures.h
The file was modifiedssep/coarse_search/evaluator/curvature_cost_computer.h
The file was addedssep/offboard/generate_scene_data/protos/scene.proto
The file was addedssep/offboard/ssep_planner_wrapper.cc
The file was addedssep/offboard/ssep_input_provider.cc
The file was modifiedssep/maps/ogm.h
The file was addedssep/offboard/generate_scene_data/data_structures.h
The file was addedssep/offboard/ssep_input_provider.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was removedssep/offboard/tools/scene_data_generator/trajectory_provider/search_based_trajectory_provider.h
Commit 3f0dc285c62627cc4e97987d149fdf3b933870b5 by tangwenqing
refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构

The file was modifiedssep/offboard/generate_scene_data/generate_scene_data_cli.cc
The file was removedssep/offboard/generate_scene_data/protos/path.proto
The file was addedssep/CMakeLists.txt
The file was addedssep/protos/path.proto
The file was modifiedCMakeLists.txt
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/data_structures/polyline.cc
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.h
The file was removedssep/offboard/generate_scene_data/protos/geometry.proto
The file was addedssep/offboard/generate_scene_data/obstacle_polygon_extractor.cc
The file was addedssep/protos/geometry.proto
Commit 6d8fef9e38e100908e1c7171fb4985a9d826a9a8 by tangwenqing
feat: SSEP增加IMV进堆场场景
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.h
The file was modifiedssep/offboard/CMakeLists.txt
The file was addedssep/scenarios/imv_enter_yard_planner.h
The file was modifiedssep/scenarios/scenario_planner_factory.h
The file was modifiedssep/data_structures/ssep_scenario_type.hpp
Commit 21a0af3d66ac87da4dc368fb67239fdecf1482c0 by tangwenqing
chore: SSEP: 调试IMV路径

The file was modifiedssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/legacy_searcher_adaptor.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifieddata/ssep/into_yard_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 97eb270b8cfb619396d49fddd9942152c8dd3218 by wuyanjun110
fix:太阳纸业 出库， ssep路径匹配的bug

The file was modifiedtasks/deciders/lat_decider/path_direction_decider.cpp
Commit 09b5db88ef67201a1558e30e8d6b16840d5e2299 by wuyanjun110
fix:太阳纸业 出库， ssep路径匹配的bug

The file was modifiedtasks/deciders/lat_decider/path_direction_decider.cpp
Commit a901c32ec5f6d217ff45aff3e69df04c93ea28d5 by tangwenqing
fix: SSEP 修复proto版本不兼容的问题

The file was modifiedssep/protos/path.proto
The file was modifiedssep/offboard/generate_scene_data/protos/scene.proto
The file was modifiedssep/protos/geometry.proto
Commit 6baa0c258115a23ceef0bc2fd88f5e19afcbfd6e by wuyanjun110
fix:修复ttc预测的bug

The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifieddata/plan/predict_path.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
Commit fdf7f852c0106c6a3b58f718e9b004178f1895d5 by wuyanjun110
fix:修复ttc预测的bug

The file was modifiedhmi/draw/draw_pose_predict.cpp
The file was modifiedalgorithm/vehicle_model/kinematic_bicycle_model.cpp
The file was modifieddata/plan/predict_path.cpp
Commit a3617580835c6e4a93d437ed914fa63c5a9c37ee by wuyanjun110
Revert "feat:暂时屏蔽container size 变量"

This reverts commit 39185fee5b5f13e40dbab72d65d0ed72c169107e.
The file was modifieddata/app/app_data.cpp
Commit 0739709559720286660e8bdb05063be1799b229e by 5081703.cr
fix: reversing car bulk scenario.

The file was modifiedscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cpp
Commit 587391b431f0144b50e404fd07bb72f8356f8461 by wuyanjun110
fix:修复程序运行的bug

The file was modifiedssep/CMakeLists.txt
Commit 7c0da0ede13ce7df504dd66c355dfd526048487b by wuyanjun110
feat:搜索尺寸参数赋值

The file was modifiedtasks/plan/ssep_task.cpp
The file was modifieddata/ssep/ssep_activation.hpp
The file was modifieddata/ssep/ssep_activation.cpp
Commit e3a58321953f8b4ab0b6ce3ea0e3ae9a1635d416 by wuyanjun110
fix:车辆参数赋值错误的bug

The file was modifieddata/ssep/ssep_activation.cpp