Changes

#1196 (Oct 22, 2025 11:59:35 AM)

1. feat:适配tcu消息 — wuyanjun110 / detail

#1194 (Oct 21, 2025 10:41:05 PM)

1. feat: SSEP: 倒车出停车位多段路径 — tangwenqing / detail
2. feat: SSEP: mult-seg path to exit parking space — tangwenqing / detail
3. feat: Tractor-trailer出停车位 — tangwenqing / detail
4. chore: remove 1 line — tangwenqing / detail
5. feat: ssep: 跑通苏溪多段路径出停车位 — tangwenqing / detail
6. chore: ssep: minor param updates — tangwenqing / detail
7. fix: ssep: 拆分car车型掉头和常规搜索的搜索参数 — tangwenqing / detail
8. chore: ssep: 在堆场内搜索终止条件不进行车道匹配 — tangwenqing / detail
9. feat:打开release — wuyanjun110 / detail

#1193 (Oct 21, 2025 5:55:32 PM)

1. feat: u-turn speed up. — 5081703.cr / detail

#1192 (Oct 21, 2025 5:01:41 PM)

1. feat:出堆场的时候， 搜索起点一段距离内忽略安全 — wuyanjun110 / detail

#1191 (Oct 21, 2025 3:48:46 PM)

1. 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
2. fix: max_acc = 0.5 for wbca velocity reference. — 5081703.cr / detail
3. fix: lane_pts deviation calculation. — 5081703.cr / detail
4. feat: lane_pts debug  msg. — 5081703.cr / detail

#1190 (Oct 21, 2025 2:16:34 PM)

1. fix:优化 安全区域的限速 — wuyanjun110 / detail

#1189 (Oct 21, 2025 1:26:05 PM)

1. 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
2. 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
3. chore: ssep: 新建开沃掉头场景调整参数 — tangwenqing / detail
4. feat:park adjust 切换park lock的bug — wuyanjun110 / detail

#1188 (Oct 21, 2025 10:42:34 AM)

1. feat:终点是否考虑边界添加参数 — wuyanjun110 / detail
2. fix: max_acc = 0.5 for wbca velocity reference. — 5081703.cr / detail

#1187 (Oct 20, 2025 6:21:50 PM)

1. feat:block data的调整 — wuyanjun110 / detail
2. fix:修改入口禁停的bug — wuyanjun110 / detail
3. fix:修复崩溃的bug — wuyanjun110 / detail
4. fix:删除调试代码 — wuyanjun110 / detail
5. fix:调整出堆场起点约束添加的条件 — wuyanjun110 / detail
6. fix:修复ssep trailer base to tractor base 载入失败的bug — wuyanjun110 / detail
7. feat:调整进堆场口的边界 — wuyanjun110 / detail
8. fix: wbca boundary bug. — wuyanjun110 / detail
9. fix:修复出但车道堆场搜索失败的问题 — wuyanjun110 / detail
10. feat:添加park 忽略安全的参数 — wuyanjun110 / detail
11. fix: plan from cur_pt when ssep search succeed. — wuyanjun110 / detail
12. fix: lon_decision, using prediction for v > 8km/h — 5081703.cr / detail
13. fix:修复杨浦出堆场口 搜索失败的bug — wuyanjun110 / detail
14. fix:下码头面 提前搜索 — wuyanjun110 / detail
15. chore: ignore — wuyanjun110 / detail
16. fix:变道过程中，t目标车道获取的bug — wuyanjun110 / detail
17. fix:修复动态搜索引导线拼接的bug — wuyanjun110 / detail
18. refator:优化ssep路径的缓存 — wuyanjun110 / detail
19. fix:停车位停不正的问题 — wuyanjun110 / detail
20. feat:调整苏溪岸桥搜索 — wuyanjun110 / detail
21. fix: using trailer_path_ego in lon_decision. — 5081703.cr / detail
22. fix: extract lon_decision rlt. — 5081703.cr / detail
23. feat:进充电桩搜索失败的bug — wuyanjun110 / detail
24. fix:修复参考拼接的bug — wuyanjun110 / detail
25. feat:删除打印日志 — wuyanjun110 / detail
26. fix: wbca crash issue. — 5081703.cr / detail
27. fix: smooth mode for truck and car. — 5081703.cr / detail
28. feat:调整停车位开始变道的距离 — wuyanjun110 / detail
29. feat:变道安全和变道临停， 因障碍物晃，导致冲突的问题， 添加buffer — wuyanjun110 / detail
30. fix:关路禁停的bug — wuyanjun110 / detail
31. fix:引桥 途径点 没有清除的bug — wuyanjun110 / detail
32. fix: car smooth mode bug. — 5081703.cr / detail
33. refctor:优化对准逻辑 — wuyanjun110 / detail
34. fix: try catch cv::distanceTransform — 5081703.cr / detail
35. fix:优化对准的逻辑 — wuyanjun110 / detail
36. fix: lockstation_pts from replayer. — 5081703.cr / detail
37. fix: lock station position thr. — 5081703.cr / detail
38. feat: 合入ssep新框架，大榭场景使用新框架代替原来搜索 — tangwenqing / detail
39. chore: 根据现场问题调参 — tangwenqing / detail
40. merge latest ssep — tangwenqing / detail
41. fix: start velocity limitation. — 5081703.cr / detail
42. fix:velocity profile optimization. — 5081703.cr / detail
43. fix: high speed wbca bug. — 5081703.cr / detail
44. fix: residual = 40.0 — 5081703.cr / detail
45. fix: 解决imv出充电桩离障碍物过近的问题 — tangwenqing / detail
46. fix: 回退老版本的tt_hybrid_astar逻辑，提高杨浦搜索成功率 — tangwenqing / detail
47. feat: 新搜索框架添加gui 可视化功能 — tangwenqing / detail
48. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 — tangwenqing / detail
49. feat: ssep: tt 搜索中，使用guide line匹配终点 — tangwenqing / detail
50. fix: using pnc upper speed limit for wbca. — 5081703.cr / detail
51. fix: wbca start vel bug. — 5081703.cr / detail
52. fix: using his when esdf=null. — 5081703.cr / detail
53. fix: obstacle_decider bug. — 5081703.cr / detail
54. fix:修复对准标志位请求不复位的bug — wuyanjun110 / detail
55. fix: obstacle_decider bug. — wuyanjun110 / detail
56. fix:修复对准标志位请求不复位的bug — wuyanjun110 / detail
57. feat:openspace场景调用老的ssep算法 — wuyanjun110 / detail
58. feat:openspace场景调用老的ssep算法 — wuyanjun110 / detail
59. feat:打开红绿灯路口停车功能 — wuyanjun110 / detail
60. feat:调整红绿灯停车的逻辑 — wuyanjun110 / detail
61. feat:wcba限速添加参数 — wuyanjun110 / detail
62. feat:imv 变道的安全校验参数化 — wuyanjun110 / detail
63. feat:优化红绿灯停车 — wuyanjun110 / detail
64. fix:调整红绿灯停车的刹车值 — wuyanjun110 / detail
65. fix:修复uturn路径误过滤的bug — wuyanjun110 / detail
66. feat:车车道出堆场不添加双黄线约束 — wuyanjun110 / detail
67. feat: 加入双向搜索，太阳纸业支持car倒车入库。 — tangwenqing / detail
68. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 — tangwenqing / detail
69. fix: ssep加保护逻辑，不考虑距离过远的途经点 — tangwenqing / detail
70. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 — tangwenqing / detail
71. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 — tangwenqing / detail
72. chore: ssep-car-多段倒车入库提升成功率 — tangwenqing / detail
73. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 — tangwenqing / detail
74. feat: merge latest ssep - 跑通双向搜索fallback进堆场 — tangwenqing / detail
75. fix: 修复ssep路径终点离设定终点过远的问题 — tangwenqing / detail
76. feat:吊距防护相关的优化 — wuyanjun110 / detail
77. fix: correct imv crab mode conditions. — 5081703.cr / detail
78. feat:适配 感知105类型 — wuyanjun110 / detail
79. fix:重复进行四阶段的bug — wuyanjun110 / detail
80. feat:吊距临停阈值和2nd 切换 lock 阈值一致 — wuyanjun110 / detail
81. feat:3阶段过程中，假如吊具着箱，不进行4阶段对准 — wuyanjun110 / detail
82. chore: SSEP: Decrease tractor-trailer bi-direction search time limit. — tangwenqing / detail
83. feat:变道是否考虑身边的障碍物默认值修改成true — wuyanjun110 / detail
84. feat:修改ssep碰撞检测阈值 — wuyanjun110 / detail
85. fix:龙须点处理的bug — wuyanjun110 / detail
86. fix:出堆场搜索的真实障碍物添加的bug — wuyanjun110 / detail
87. chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置 — tangwenqing / detail
88. feat: 进堆场使用双向搜索+keb优化 — tangwenqing / detail
89. chore: keb-optimizer增加曲率约束校验 — tangwenqing / detail
90. fix: 修复起点终点过远时反向搜索失效的问题 — tangwenqing / detail
91. chore: SSEP: import tensorrt into ssep — tangwenqing / detail
92. fix:修复崩溃的bug — wuyanjun110 / detail
93. refactor:优化关路禁停 — wuyanjun110 / detail

#1185 (Oct 20, 2025 4:07:53 PM)

1. feat: reversing creep block. — 5081703.cr / detail

#1184 (Oct 20, 2025 3:16:54 PM)

1. fix:适配lane 首位相连的场景 — wuyanjun110 / detail
2. fix:修复方向切换的问题 — wuyanjun110 / detail

#1183 (Oct 20, 2025 2:06:39 PM)

1. chore: SSEP: import tensorrt into ssep — tangwenqing / detail
2. fix:修复崩溃的bug — wuyanjun110 / detail
3. 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

#1183 (Oct 20, 2025 2:06:39 PM)

1. feat_out: 获取范围内映射点 — zhaozitong / detail
2. feat_out: 类型错误修复 — zhaozitong / detail
3. feat_out: 处理逻辑错误 — zhaozitong / detail
4. feat_out: 优化函数 — zhaozitong / detail
5. feat_out: 处理返回值错误bug — zhaozitong / detail
6. feat_out: 处理CalculateClosestPointIndex range参数错误场景 — zhaozitong / detail

#1182 (Oct 17, 2025 10:49:23 AM)

1. feat: 1. 前港 lock 和 adjust 来回切换的bug  2. 太阳 接受新任务， 状态机切换的bug — wuyanjun110 / detail
2. feat:储存的消息中添加车辆当前位置 — wuyanjun110 / detail
3. feat:park lock 下不重新搜索 — wuyanjun110 / detail

#1182 (Oct 17, 2025 10:49:23 AM)

1. feat_out: 优化函数 — zhaozitong / detail
2. feat_out: 处理返回值错误bug — zhaozitong / detail
3. feat_out: 处理CalculateClosestPointIndex range参数错误场景 — zhaozitong / detail