Build #828 (Nov 19, 2025 2:57:08 PM)

1. fix:修复快照内存泄漏的bug (details)
2. fix: trailer path bug in replayer. (details)
3. 从两边搜索 (details)
4. 根据现场测试数据提升成功率。 (details)
5. feat:1.添加远程步进忽略安全的功能2.翻斗角度大于一定阈值，停车的防护 (details)
6. fix: no drive object check dis expend (details)
7. Add OGM builder (details)
8. Og Lines添加source cluster size表示置信度，回退时只回退置信度低的点云 (details)
9. Publish og_line_segment topic. (details)
10. fix: 修复了2段搜索的一些问题，修改了参数 (details)
11. feat:暂时屏蔽container size 变量 (details)
12. chore: 训练数据集生成工具完善轨迹生成模块 (details)
13. chore: 重新定义og line segment message (details)
14. fix:修复分段路径计算的bug (details)
15. fix: trailer path bug in replayer. (details)
16. fix: trailer_ego_path bug. (details)
17. fix: destination direction bug. (details)
18. feat: 建立多步搜索框架，重构tractor-trailer的搜索代码，适配威海调头入库场景 (details)
19. fix: steering stationary. (details)
20. fix: 去除魔法数字 (details)
21. refactor:优化ego match (details)
22. fix:修复match的bug (details)
23. fix: 修复ssep参考线trailer角度跳变问题 (details)
24. fix: reverse truck path task使用原始kappa (details)
25. feat:引导线适配集卡倒车 (details)
26. fix:后向倒车问题修复 (details)
27. fix:后向倒车问题修复 (details)
28. fix: reversing truck path. (details)
29. fix: 崩溃 (details)
30. fix: using TractorPathFromTrailerPath (details)
31. fix:修复bulk out识别的bug (details)
32. feat:添加进堆场口通道的显示 (details)
33. feat:调整边界封锁逆行车辆左边的通道 (details)
34. feat: u-turn-insertion场景，倒车重规划 (details)
35. fix: crash issue. (details)
36. fix: imv crab mode for large curvature path. (details)
37. feat:适配友谊关 (details)
38. Ssep add hdmap (details)
39. fix: 倒车时搜索区域构建bug修复 (details)
40. fix: uturn insertion 倒车二次规划使用更大的曲率 (details)
41. feat: 前港掉头调试 临时提交 (details)
42. feat:友谊关测试添加日志 (details)
43. feat:恢复代码 (details)
44. fix:出堆场口 和多段 求解失败的bug (details)
45. feat:吊距防护的bug (details)
46. fix: trailer_base2head_base in ssep. (details)
47. fix: imv heading bug. (details)
48. fix:修复快照崩溃的bug (details)
49. fix:修复合并的bug (details)
50. feat:弯道延后进入open space 参数化 (details)
51. feat:弯道延后进入open space 参数化 (details)
52. fix:长弯道内，速度跳变的问题 (details)
53. feat: 完成ssep新框架的场景输入。修复搜索bug (details)
54. fix: ssep ilqr path filter. (details)
55. fix: 修复 along lane condition 中目标角度与车道角度可能不一致的问题 (details)
56. fix:修复可能崩溃的bug (details)
57. feat:关闭debug (details)
58. fix: wbca boundary bug. (details)
59. fix: lane.length checking bug. (details)
60. feat:调整wcba 优化路径的长度 (details)
61. fix: echo stop position. (details)
62. feat: 掉头入库-1. 根据途经点位置自动计算角度。2. 方向切换时向前延长轨迹 (details)
63. fix: plan from cur_pt when ssep search succeed. (details)
64. feat: 增加conditional filter防止轨迹画圈 (details)
65. fix: 修复轨迹有可能转圈的问题 (details)
66. fix: crash issue. (details)
67. fix: lon_decision, using prediction for v > 8km/h (details)
68. fix: 修复掉头入库时，pass point不合理会导致崩溃的问题 (details)
69. fix:修复不运行path time graph，lattice崩溃的bug (details)
70. fix:修复guide line的模式的打印 (details)
71. feat:添加忽略身后安全的标志位 (details)
72. feat:添加忽略身后og点的功能 (details)
73. chore: 改进进出堆场搜索与掉头搜索 (details)
74. fix: 修复前港终点在反向车道时会crash的问题 (details)
75. feat:扩多个lane的region，只获取一段的bug (details)
76. fix: 修复hd-map中yard access line为空时会崩溃的问题 (details)
77. chore: 调整进出堆场与普通搜索方向切换权重 (details)
78. fix: wbca route length optimization. (details)
79. fix: ssep修复起点直接满足搜索终止条件时会crash的问题 (details)
80. fix:修复引导线拼接的bug (details)
81. chore: 1.基于车道的终点匹配范围增加到距离参考点20米。2. imv增加斜行cost (details)
82. feat: 跑通ssep新框架-西联imv进充电桩的流程 (details)
83. fix:修复bulk in 和 bulk out 点靠近时，场景识别的bug (details)
84. 仿真中跑通进出充电桩 (details)
85. fix:修复bulk倒车的问题 (details)
86. fix:修复速度大于40km/h时.减速曲线的bug (details)
87. fix: 修复了轨迹平滑时，边界约束为0时，轨迹位置仍会改变的bug (details)
88. fix:修复在平滑状态下， 限速的bug (details)
89. fix:修复堆场入口显示的bug (details)
90. chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details)
91. chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details)
92. fix: 修复方向切换时延长失效的问题，增大对tunnel constraint的前向响应距离 (details)
93. fix:修复忽略身后障碍物的bug (details)
94. feat:远程步进， 使用忽略安全的标志位代表是否是自动卸料 (details)
95. fix: 修复堆场有多个出入口时适配错误的问题 (details)
96. feat:修复参数名称和远程步进超时的时间 (details)
97. merge latest ssep (details)
98. fix: 解决imv出充电桩离障碍物过近的问题 (details)
99. fix: 前港ssep搜索，车道匹配的终点需要在设定的终点之后 (details)
100. fix: 解决imv出充电桩离障碍物过近的问题 (details)
101. feat:调整倒车的约束 (details)
102. fix:ssep场景错误的bug (details)
103. fix:travel out 误退出的bug (details)
104. feat: 新搜索框架添加gui 可视化功能 (details)
105. feat: 新搜索框架添加gui 可视化功能 (details)
106. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
107. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
108. fix:ssep路径没有终点的停止线的bug (details)
109. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
110. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
111. feat:添加comand widget的显示开关 (details)
112. feat:添加comand widget的显示开关 (details)
113. fix:修复对准标志位请求不复位的bug (details)
114. feat:状态显示框通过参数可以控制 (details)
115. fix:合并的bug (details)
116. feat:调整缩小安全距离的参数 (details)
117. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
118. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
119. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
120. fix: ssep修复途经点使用逻辑 (details)
121. fix:误退出 dravel out场景的bug (details)
122. fix:误进入倒车控制器的bug (details)
123. fix:误进入倒车控制器的bug (details)
124. 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 (details)
125. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
126. feat:优化倒车的限速 (details)
127. chore: ssep-car-多段倒车入库提升成功率 (details)
128. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
129. fix: Remove file (details)
130. chore: ssep-car多段倒车 提升二次搜索成功率 (details)
131. fix:出斜料区，地图方向识别的bug (details)
132. fix: 修复ssep路径终点离设定终点过远的问题 (details)
133. feat: ssep-离线障碍物配置框架 (details)
134. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
135. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
136. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
137. 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 (details)
138. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
139. chore: ssep-car-多段倒车入库提升成功率 (details)
140. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
141. fix: Remove file (details)
142. chore: ssep-car多段倒车 提升二次搜索成功率 (details)
143. fix: 修复ssep路径终点离设定终点过远的问题 (details)
144. feat: 增加候选起点策略 (details)
145. feat: 增加候选起点策略 (details)
146. feat:倒车入库后，前向步进的问题 (details)
147. feat:完善变道触发的条件 (details)
148. fix:  stationary steering logic. (details)
149. fix:变道场景切换的bug (details)
150. fix:路径方向切换时，终点距离计算的bug (details)
151. fix:修复路径拼接的bug (details)
152. feat:优化ssep的参数载入 (details)
153. 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 (details)
154. feat:修改开始对准的阈值 (details)
155. fix:修复bulk 状态下， 不自动对准的bug (details)
156. fix:修复更新目标车道使用历史数据的bug (details)
157. feat:适配路边作业场景 (details)
158. feat: SSEP: 1. IMV增加pullover场景处理终点偏移。2. 添加keb optimizer (details)
159. fix: 修复掉头场景的终止条件判断不能正确匹配车道的问题 (details)
160. fix:修复方向切换的bug (details)
161. feat: SSEP: 进堆场场景使用双向搜索+keb_optimizer (details)
162. fix: reversing debug. (details)
163. feat: SSEP: 倒车出停车位多段路径 (details)
164. feat:合并的bug (details)
165. feat: SSEP: mult-seg path to exit parking space (details)
166. fix:修复og lines 使用的bug (details)
167. fix:方向切换的bug (details)
168. feat:添加强制前向搜索的标志位 (details)
169. fix:修复地图包略当前段计算的bug (details)
170. refactor:优化adjust 切换lock的条件 (details)
171. fix:修复lock 不切换adjust的bug (details)
172. chore: fix merge conflicts (details)
173. feat: Tractor-trailer出停车位 (details)
174. chore: remove 1 line (details)
175. chore: ssep: 将Map envelop 转为 constraint，容许轻微违反约束-不超过0.5m (details)
176. 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 (details)
177. feat:储存的消息中添加车辆当前位置 (details)
178. feat:park lock 下不重新搜索 (details)
179. feat: ssep: 跑通苏溪多段路径出停车位 (details)
180. fix:适配lane 首位相连的场景 (details)
181. fix:修复方向切换的问题 (details)
182. feat: reversing creep block. (details)
183. feat:终点是否考虑边界添加参数 (details)
184. fix: max_acc = 0.5 for wbca velocity reference. (details)
185. 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 (details)
186. 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。 (details)
187. chore: ssep: 新建开沃掉头场景调整参数 (details)
188. feat:park adjust 切换park lock的bug (details)
189. chore: ssep: minor param updates (details)
190. fix:优化 安全区域的限速 (details)
191. feat: SSEP: 倒车出停车位多段路径 (details)
192. feat: SSEP: mult-seg path to exit parking space (details)
193. feat: Tractor-trailer出停车位 (details)
194. chore: remove 1 line (details)
195. feat: ssep: 跑通苏溪多段路径出停车位 (details)
196. chore: ssep: minor param updates (details)
197. feat:出堆场的时候， 搜索起点一段距离内忽略安全 (details)
198. fix: hmi load map. (details)
199. fix: ssep: 拆分car车型掉头和常规搜索的搜索参数 (details)
200. chore: ssep: 在堆场内搜索终止条件不进行车道匹配 (details)
201. feat:打开release (details)
202. feat:适配tcu消息 (details)
203. feat:添加多次步进的功能 (details)
204. feat_out: path_opt in replayer. (details)
205. fix: velocity profile exception. (details)
206. fix: delete history in smooth mode. (details)
207. fix:适配imv出停车位 (details)
208. chore: ssep: 跑通tensor rt推理ssep heat net模型全流程 (details)
209. fix:修复终点前变道的bug (details)
210. feat:添加参数 直行的junction 是否用路口的边界 (details)
211. refactor:删除打印日志 (details)
212. fix:road 级别的可行驶范围的bug (details)
213. feat:适配董分进堆场边界 (details)
214. fix:修复封路变道的bug (details)
215. fix:引桥前变道的bug (details)
216. fix:可能崩溃的bug (details)
217. fix: routing extending backward for bend. (details)
218. fix:变道的bug (details)
219. chore: SSEP: Update ssep sdk. (details)
220. chore: 重构keb_optimizer，提取出tractor_trailer_keb_optimizer. 后续可以为其他车型添加优化器 (details)
221. fix:适配open space 场景 (details)
222. fix: using maximum vehicle size in WBCA (details)
223. Feat: SSEP: 增加自卸车倒车卸货场景 (details)
224. feat: 接入自卸车倒车卸货场景 (details)
225. fix: abandon  last segment in wbca. (details)
226. fix: 修复ssep搜索区域尺寸错误 (details)
227. fix:可能崩溃的bug (details)
228. fix: wbca debug msg. (details)
229. fix: end_velocity for wbca calc exception. (details)
230. fix: velocity profile exception. (details)
231. fix:人工对准误创建约束 (details)
232. feat:open space的优化 (details)
233. refactor:直线步进 优化步进时间 (details)
234. refactor:直线步进 优化步进时间 (details)
235. feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。 (details)
236. feat: ssep_data中保存重规划原因 (details)
237. fix: add wbca debug var. (details)
238. fix: add lateral acc cost. (details)
239. fix: add wbca cost and time_consuming. (details)
240. fix: SSEP: 修复car+optimizer中代码的bug (details)
241. merge latest ssep (details)
242. fix:修复代码合并的bug (details)
243. fix: pub lane_pts debug msg. (details)
244. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
245. feat: 适配IMV-either-facing-goal搜索。苏溪去除冗余的end theta加减PI处理 (details)
246. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
247. feat:暂时可以调试 (details)
248. fix:修复快照里面dp path 计算错误的bug (details)
249. feat:原地打方向盘时，方向盘校验的阈值参数化 (details)
250. chore: SSEP: 更新到最新版本ssep，增加集卡多段Parking场景，多段Parking增加优化后处理 (details)
251. chore: 适配新版本ssep (details)
252. feat: SSEP: 增加集卡多段倒车场景 (details)
253. fix: wbca bd expanding. (details)
254. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
255. feat: SSEP: 增加集卡多段倒车场景 (details)
256. fix: SSEP: Resolve crashing issue. (details)
257. fix: SSEP: Resolve crashing issue. (details)
258. fix: SSEP: Resolve crashing issue. (details)
259. fix: SSEP: Resolve crashing issue. (details)
260. feat: add distance2bend (details)
261. fix: WBCA lane change path (details)
262. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
263. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
264. fix: cherry pick bug. (details)
265. feat:适配状态机场景 (details)
266. feat: WBCA serialization for debug. (details)
267. fix: using history_pts for lattice velocity reference. (details)
268. fix: use_func_use_wbca_speed_limit = true (details)
269. fix: using history_pts for lattice velocity reference. (details)
270. feat: SSEP: 增加引导线跟随模式搜索 (details)
271. feat: ssep适配脱困模式 (details)
272. feat:boost 编译错误 (details)
273. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
274. fix: lateral acceleration parameters. (details)
275. fix: ComputeLonGuideVelFromLatAcc (details)
276. feat: clear align times when align2nd to align1st. (details)
277. feat: clear align times when align2nd to align1st. (details)
278. feat:脱离模式 路径切换的适配 (details)
279. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
280. feat: SSEP: 增加引导线跟随模式搜索 (details)
281. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
282. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
283. fix: lon_decision for car. (details)
284. feat:cut ego 添加参数 (details)
285. feat:适配新的障碍物类型 (details)
286. fix: lon_decision for car. (details)
287. feat:脱困模式，适配重搜索逻辑以及地图版本校验 (details)
288. feat:cut ego 添加参数 (details)
289. feat:适配新的障碍物类型 (details)
290. fix: add min_turn_radius (details)
291. fix: add lattice_velocity_reference_mode (details)
292. fix: disable wbca debug mode. (details)
293. fix: max_lat_acc in wbca params (details)
294. fix: ignore dynamic obstacle in risk evaluation. (details)
295. fix:调整危险限速距离的bug (details)
296. feat:调整状态机 (details)
297. feat:远程步步进，停车时间参数化 (details)
298. fix:调整危险限速距离的bug (details)
299. feat:远程步步进，停车时间参数化 (details)
300. fix_out: lat_acc_baed ref vel cal error. add debug msg. (details)
301. fix:修复因为距离阈值，带来场景识别错误的bug (details)
302. fix: bug (details)
303. fix: disable wbca_debug mode. (details)
304. fix:修复终点距离计算的bug (details)
305. chore(format):格式 (details)
306. chore: 适配remote guide line变更 (details)
307. fix:修复海润进弯道后第一个停车位停不正的bug (details)
308. fix: delete log. (details)
309. enable ssep_heat_net (tmp commit) (details)
310. fix:修复误触发open space的bug (details)
311. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
312. fix: delete log (details)
313. feat: SSEP: 完成 learning-based 进出堆场口搜索全流程 (details)
314. feat: 适配ssep learning-based 进出堆场口 (details)
315. feat:执行remote后进入stop auto (details)
316. feat:添加obj障碍物的跟车距离 (details)
317. refactor:优化bulk场景的限速 (details)
318. fix: SSEP: 修复终点在堆场边缘时，场景识别错误导致搜索失败的问题。 (details)
319. chore: SSEP: Add some printos. (details)
320. fix:修复park lock 切换 park out， 不重搜索的bug (details)
321. fix:修复极限变道时没有应用变道路径，然后状态机切换的bug (details)
322. feat:添加obj障碍物的跟车距离 (details)
323. refactor:优化跟车距离 (details)
324. refactor:优化跟车距离 (details)
325. chore: SSEP: use standard out stream. (details)
326. fix: 解决未安装cuda的系统编译失败的问题。 (details)
327. fix:临时修复重搜索的bug (details)
328. refactor:优化动态搜索限速 (details)
329. feat: SSEP: 重规划时先考虑复用优化上一条轨迹 (details)
330. feat: SSEP重规划时复用轨迹 (details)
331. fix:修复replayer编译失败的bug (details)
332. fix: disable dynamic and steering speed constraints (details)
333. fix: add min_velocity_coefficient_for_velocity_cost. (details)
334. feat:添加障碍物靠近警报的功能 (details)
335. feat:添加障碍物靠近警报的功能 (details)
336. fix:修复出堆场过程中， travel out场景退出的bug (details)
337. fix: bulk场景 进出堆场限速的bug (details)
338. feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。 (details)
339. refactor:优化动态搜索限速 (details)
340. feat:添加障碍物靠近警报的功能 (details)
341. fix:修复出堆场过程中， travel out场景退出的bug (details)
342. fix: bulk场景 进出堆场限速的bug (details)
343. fix:优化不绕行和搜索停车的问题 (details)
344. fix:保存任务时，当前定位保存错误的bug (details)
345. fix:合并的bug (details)
346. chore: SSEP: minor params finetune. (details)
347. feat: 海润适配新imv搜索器 (details)
348. fix: crash issue. (details)
349. fix: SSEP: 修复集卡进堆场轨迹绕圈问题 (details)
350. fix: wbca debug mode. (details)
351. fix: replace IsInLat/Lon with is_bend. (details)
352. feat: ogm聚类时使用多边形代替原来的线段障碍物 (details)
353. chore: SSEP: (details)
354. feat: 进出堆场场景中，如果存在云端remote guide line的话，进入参考线跟随搜索模式。 (details)
355. chore: SSEP: imv optimizer参数调试 (details)
356. fix: 救援模式下，无法取消任务的bug (details)
357. fix:状态机切换的bug (details)
358. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
359. chore: SSEP重构 - 实现搜索框架适配器，将旧的搜索器适配到新框架，统一流程。可视化与主进程解耦，去除死代码。 (details)
360. chore: 适配ssep重构 (details)
361. chore: SSEP: minor adjustments (details)
362. chore: SSEP: 1. imv-keb-optimizer调参解决低贝位进堆场路径画龙的问题。2. 限制斜行角度。 (details)
363. chore: SSEP: 增加打印信息，修复一些小错误。 (details)
364. feat:适配直线步进，根据ttc进行碰撞检测的功能 (details)
365. fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug (details)
366. fix:向后直线步进的bug (details)
367. fix:向后直线步进的bug (details)
368. fix:修复合并的bug (details)
369. feat:cheackout ssep (details)
370. feat:release (details)
371. fix:出停车位,不拼接参考线的bug (details)
372. fix: 拖车路径延长初始角度错误 (details)
373. fix:travel out 退出的bug (details)
374. feat:1.吊具着箱后，拒绝对准2.添加吊距防护忽略安全的参数 (details)
375. fix: SSEP: 修复碰撞检测参数错误 (details)
376. fix:ttc计算的bug (details)
377. fix:优化云端轨迹的转向赋值 (details)
378. fix:ttc计算的bug (details)

Started by user wuyanjun

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