fix: add gjk — 5081703.cr / detail
fix: add DECELERATION. — 5081703.cr / detail
fix: forward_simulation bug. — 5081703.cr / detail
fix: lka_deviation using yard_name. — 5081703.cr / detail
fix: hmi load map. — 5081703.cr / detail
fix: deceleration state optimization. — 5081703.cr / detail
fix: semantic_type in replayer. — 5081703.cr / detail
fix: forward_simulator bug. — 5081703.cr / detail
fix: decision logic. — 5081703.cr / detail
fix: decision parameters. — 5081703.cr / detail
fix: update lka_deviation_region. — 5081703.cr / detail
fix: add deviation around stacker/dest. — 5081703.cr / detail
fix: wbca path length — 5081703.cr / detail
fix:add driving_corridor_ogm_dilate_size — 5081703.cr / detail
fix: boundary shift in yard. — 5081703.cr / detail
fix: add usef_func_after_destination_wbca_no_shift_mode. — 5081703.cr / detail
fix: lattice error for lon_decision deceleration. — 5081703.cr / detail
fix: shif out yard. — 5081703.cr / detail
fix: shift into&out yard — 5081703.cr / detail
fix: lattice error for lon_decision deceleration. — 5081703.cr / detail
fix: lon_decision for car. — 5081703.cr / detail
fix: using backward obstacle in lane changing lon_decision. — 5081703.cr / detail
fix: lka deviation for out_yard region. — 5081703.cr / detail
fix: using last_path when out_yard wbca failed. — 5081703.cr / detail
fix: correct imv crab mode conditions. — 5081703.cr / detail
fix: lka deviation through yard. — 5081703.cr / detail
fix: disable wbca smooth mode for seaside buffer. — 5081703.cr / detail
fix: extract lane_pts msg in replayer. — 5081703.cr / detail
fix:修复崩溃的bug — wuyanjun110 / detail
fix:修复崩溃的bug — wuyanjun110 / detail
refactor:优化关路禁停 — wuyanjun110 / detail
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
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
fix: max_acc = 0.5 for wbca velocity reference. — 5081703.cr / detail
fix: lane_pts deviation calculation. — 5081703.cr / detail
feat: lane_pts debug msg. — 5081703.cr / detail
fix: hmi load map. — 5081703.cr / detail
feat_out: path_opt in replayer. — 5081703.cr / detail
fix: velocity profile exception. — 5081703.cr / detail
fix: delete history in smooth mode. — 5081703.cr / detail
fix:修复封路变道的bug — wuyanjun110 / detail
fix:引桥前变道的bug — wuyanjun110 / detail
fix:可能崩溃的bug — wuyanjun110 / detail
fix:修复合并的bug — wuyanjun110 / detail
fix:修复合并的bug — wuyanjun110 / detail
fix: using maximum vehicle size in WBCA — 5081703.cr / detail
fix:人工对准误创建约束 — wuyanjun110 / detail
fix: abandon last segment in wbca. — 5081703.cr / detail
fix: wbca debug msg. — 5081703.cr / detail
fix: end_velocity for wbca calc exception. — 5081703.cr / detail
fix: velocity profile exception. — 5081703.cr / detail
fix: add wbca debug var. — 5081703.cr / detail
fix: add lateral acc cost. — 5081703.cr / detail
fix: add wbca cost and time_consuming. — 5081703.cr / detail
fix: add wbca cost and time_consuming. — 5081703.cr / detail
fix: add lateral acc cost. — 5081703.cr / detail
feat:添加根据定位值的倒车防护，防治对准时，跟着桥走. — wuyanjun110 / detail
fix:修复连续普通路口搜索的bug — wuyanjun110 / detail
fix: wbca bd expanding. — 5081703.cr / detail
feat:调整搜索终点位置 — wuyanjun110 / detail
feat:堆高机作业关路重叠时，合并 — wuyanjun110 / detail
feat:park lock下不校验地图 — wuyanjun110 / detail
feat:调整出堆场口的约束创建 — wuyanjun110 / detail
fix:修复因为距离阈值，带来场景识别错误的bug — wuyanjun110 / detail
fix:修复终点距离计算的bug — wuyanjun110 / detail
fix:修复海润进弯道后第一个停车位停不正的bug — wuyanjun110 / detail
fix:修复误触发open space的bug — wuyanjun110 / detail
refactor:优化动态搜索限速 — wuyanjun110 / detail
feat: lon_decision from SQ — 5081703.cr / detail
fix: add min_safe_ttc — 5081703.cr / detail
fix: v_min_coef = 9.9 wbca — 5081703.cr / detail
fix: disable dynamic and steering speed constraints — 5081703.cr / detail
feat:适配大港ssep — wuyanjun110 / detail
fix:堆场口禁停异常的bug — wuyanjun110 / detail
feat: add drving_corridor_ogm_dilate_size_in_yard — 5081703.cr / detail
fix: start up boundary optimization. — 5081703.cr / detail
fix: stacker crane wbca smooth mode thr. — 5081703.cr / detail
feat: low bay operation smooth — 5081703.cr / detail
fix: wbca smoth_mode route interval — 5081703.cr / detail
fix: disable smooth mode in yard. — 5081703.cr / detail
feat:进堆场边界优化 — wuyanjun110 / detail
fix:ssep搜索失败的bug — wuyanjun110 / detail
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
feat:动态搜索考虑不可形式区域 — wuyanjun110 / detail
fix:终点在堆场出口，边界的bug — wuyanjun110 / detail
feat:调整 hfsm status中cur lane id的逻辑 — wuyanjun110 / detail
fix: truck wbca replayer debug. — 5081703.cr / detail
feat:优化cur laneid的赋值 — wuyanjun110 / detail
fix: merge bug. — 5081703.cr / detail
fix:搜索起点太远的问题 — wuyanjun110 / detail
feat:适配新的region — wuyanjun110 / detail
fix:修复变道过程中，更新laneid的bug — wuyanjun110 / detail
refactor:出堆场的起始点从参考线上选取 — wuyanjun110 / detail
feat: 添加lowbag 判断函数 — wuyanjun110 / detail
feat:添加clangd的配置文件 — wuyanjun110 / detail
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
feat:规划路径和ssep路径不一致的问题分析 — wuyanjun110 / detail
feat:适配clang — wuyanjun110 / detail
refactor:适配clang编译 — wuyanjun110 / detail
feat:赋值的bug — wuyanjun110 / detail
fix:适配clang的bug — wuyanjun110 / detail
fix:修复甩正点的bug — wuyanjun110 / detail
feat:适配clang — wuyanjun110 / detail
feat:甩正点距离适配 — wuyanjun110 / detail
fix:修复路径跳变的bug — wuyanjun110 / detail
fix: using LD v1 — 5081703.cr / detail
feat:适配大谢右转进堆场 — wuyanjun110 / detail
feat:适配缩小根据距离 — wuyanjun110 / detail
feat:调整counter和进堆场障碍物考虑的条件 — wuyanjun110 / detail

#1455 (Jan 22, 2026 11:19:41 PM)

feat: SSEP: 完成offline自动回归测试工具。目前支持5种场景的回归测试。其他场景会在后续陆续添加。 — tangwenqing / detail
feat: SSEP: 可视化增加地图元素显示 — tangwenqing / detail
chore: SSEP: minor updates — tangwenqing / detail
feat: SSEP: IMV - either goal direction 更改为 either start direction，大大简化逻辑，并且全场景支持了IMV作业模式未确定的场景。 — tangwenqing / detail
Refactor: SSEP: 用aabox替换vector<double>表示search bounds — tangwenqing / detail
chore: SSEP: Improve bidirectional search — tangwenqing / detail
fix: fix compile errors — tangwenqing / detail
fix: SSEP: 解决集卡常规场景轨迹异常的问题 — tangwenqing / detail
fix: SSEP: 修复IMV出停车位路径异常的问题 — tangwenqing / detail
feat:终点距离的判断使用map distance — wuyanjun110 / detail
fix:imv进停车位双向搜索的bug — wuyanjun110 / detail
fix:切换到idle保持状态的bug — wuyanjun110 / detail
feat:苏溪,西联,董分双向搜索的bug — wuyanjun110 / detail
chore:添加gitgnore — wuyanjun110 / detail
fix:驾驶走廊图构建的bug — wuyanjun110 / detail
chore:删除多余的log — wuyanjun110 / detail
feat:调整 float to half — wuyanjun110 / detail
fix:修复动态上下面过程中，提前切换到bulk场景的bug — wuyanjun110 / detail
fix: ogm.height/width — 5081703.cr / detail
feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 — tangwenqing / detail
chore: SSEP-GPU: 通过所有测试用例 — tangwenqing / detail
chore: SSEP: gpu search 性能优化 — tangwenqing / detail
chore: SSEP: 同步ssep的imv进充电桩的更新 — tangwenqing / detail
feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。 — tangwenqing / detail
fix: SSEP: 修复回归测试失败的场景 — tangwenqing / detail
fix: SSEP: 解决集卡普通搜索画龙的问题 — tangwenqing / detail
fix:修复变道过程中，更新laneid的bug — wuyanjun110 / detail
refactor:出堆场的起始点从参考线上选取 — wuyanjun110 / detail
feat: 添加lowbag 判断函数 — wuyanjun110 / detail
fix: clear path_optimization_task esdf his. — 5081703.cr / detail
feat: SSEP: 增加万能参数接口 — tangwenqing / detail
feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。 — tangwenqing / detail
chore: SSEP: 改进自卸车多段倒车 — tangwenqing / detail
feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 — tangwenqing / detail
feat:添加clangd的配置文件 — wuyanjun110 / detail
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
feat:规划路径和ssep路径不一致的问题分析 — wuyanjun110 / detail
feat:适配clang — wuyanjun110 / detail
refactor:适配clang编译 — wuyanjun110 / detail
feat:赋值的bug — wuyanjun110 / detail
fix:适配clang的bug — wuyanjun110 / detail
fix:修复甩正点的bug — wuyanjun110 / detail
feat:适配clang — wuyanjun110 / detail
feat:甩正点距离适配 — wuyanjun110 / detail

#1454 (Jan 22, 2026 12:38:44 PM)

chore: SSEP: 大榭只优化一次 — tangwenqing / detail

#1453 (Jan 22, 2026 8:07:46 AM)

feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 — tangwenqing / detail
chore: SSEP-GPU: 通过所有测试用例 — tangwenqing / detail
chore: SSEP: gpu search 性能优化 — tangwenqing / detail
chore: SSEP: 同步ssep的imv进充电桩的更新 — tangwenqing / detail
feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。 — tangwenqing / detail
fix: SSEP: 修复回归测试失败的场景 — tangwenqing / detail
fix: SSEP: 解决集卡普通搜索画龙的问题 — tangwenqing / detail
feat: SSEP: 增加万能参数接口 — tangwenqing / detail
feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。 — tangwenqing / detail
chore: SSEP: 改进自卸车多段倒车 — tangwenqing / detail
feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 — tangwenqing / detail
fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题 — tangwenqing / detail
fix: SSEP: 解决进堆场画龙 — tangwenqing / detail

#1452 (Jan 21, 2026 11:52:31 PM)

fix: cfg_static bug — 5081703.cr / detail
fix: replayer bug — 5081703.cr / detail
feat:终点距离的判断使用map distance — wuyanjun110 / detail
fix:imv进停车位双向搜索的bug — wuyanjun110 / detail
fix:切换到idle保持状态的bug — wuyanjun110 / detail
feat:苏溪,西联,董分双向搜索的bug — wuyanjun110 / detail
chore:添加gitgnore — wuyanjun110 / detail
fix:驾驶走廊图构建的bug — wuyanjun110 / detail
chore:删除多余的log — wuyanjun110 / detail
feat:调整 float to half — wuyanjun110 / detail
fix:修复动态上下面过程中，提前切换到bulk场景的bug — wuyanjun110 / detail
fix: ogm.height/width — 5081703.cr / detail
feat: SSEP: 初步跑通GPU加速版本的进堆场搜索 — tangwenqing / detail
chore: SSEP-GPU: 通过所有测试用例 — tangwenqing / detail
chore: SSEP: gpu search 性能优化 — tangwenqing / detail
chore: SSEP: 同步ssep的imv进充电桩的更新 — tangwenqing / detail
feat: SSEP: 前港倒车进货堆场景添加 fallback searcher。倒车不能到达的情况会使用通用搜索器搜索（现在可以支持向前到达货堆）。 — tangwenqing / detail
fix: SSEP: 修复回归测试失败的场景 — tangwenqing / detail
fix: SSEP: 解决集卡普通搜索画龙的问题 — tangwenqing / detail
fix: clear path_optimization_task esdf his. — 5081703.cr / detail
feat: SSEP: 增加万能参数接口 — tangwenqing / detail
feat: SSEP: 集卡进堆场支持通过extra_params获取车头拉直位置与车挂最大夹角并规划符合要求的路径。 — tangwenqing / detail
chore: SSEP: 改进自卸车多段倒车 — tangwenqing / detail
feat: 太阳纸业使用pncc_port_related参数配置SSEP场景 — tangwenqing / detail
fix: SSEP: 修复集卡普通搜索路口有可能超近道的问题 — tangwenqing / detail
fix: smooth logic — 5081703.cr / detail
fix: SSEP: 解决进堆场画龙 — tangwenqing / detail
fix:调整大谢进堆场路径 — wuyanjun110 / detail