Build #125 (Nov 13, 2025 10:14:34 AM)

1. feat_out:添加满都拉专用通信结构 (details)
2. feat_out:字段修改 (details)
3. feat_out:增加编队状态消息 (details)
4. feat_out:按照上智联新协议修改 (details)
5. fix_out: traffic msg (details)
6. feat_out:回退rc_dev的合并 (details)
7. fix_out: add traffic msg (details)
8. feat:平行驾驶消息添加新字段 (details)
9. Publish og line segments (details)
10. feat_out:故障码增加关联task_id (details)
11. feat_out:溯源消息增加task_id (details)
12. feat:添加货物宽度的标志位 (details)
13. feat:添加货物重量 (details)
14. feat_out:编队定位消息增加字段 (details)
15. feat_out: TosTask中block_crane_id类型由uint8变更为string (details)
16. feat:添加cargo type 标志位 (details)
17. chore: 重新定义Og line segment msg (details)
18. feat:添加变道状态机 (details)
19. 感知堆场obj输出消息增加heading,id,配对id和速度字段. (details)
20. feat:变量类型的bug (details)
21. feat:添加pnc 状态的接口 (details)
22. feat_out:心跳增加停车原因 (details)
23. feat:添加忽略身后og点的标志位 (details)
24. feat:添加忽略身后og点的标志位 (details)
25. feat:添加忽略身后og点的标志位 (details)
26. feat:添加绕行状态机 (details)
27. feat_out:增加上报字段 (details)
28. feat_out:增加sub_motion_status (details)
29. feat:添加忽略身后og点的标志位 (details)
30. feat_out:增加车辆状态字段 (details)
31. feat_out:增加剩余续航里程 (details)
32. feat:在pnc_debug中增加observer_debug (details)
33. feat:在pnc_debug中增加observer_debug (details)
34. feat_out:添加tcu2vehicle消息 (details)
35. fix:类型错误 (details)
36. feat:ads command里面添加 步进间隔的字段 (details)
37. feat:添加脱困模式的字段 (details)
38. feat:添加脱困模式的字段 (details)
39. feat:云控语音控制消息 (details)
40. feat:在pnc_debug中增加observer_debug (details)

1. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
2. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
3. fix: using pnc upper speed limit for wbca. (details)
4. fix: wbca start vel bug. (details)
5. fix: using his when esdf=null. (details)
6. fix: obstacle_decider bug. (details)
7. fix:修复对准标志位请求不复位的bug (details)
8. fix: obstacle_decider bug. (details)
9. fix:修复对准标志位请求不复位的bug (details)
10. feat:openspace场景调用老的ssep算法 (details)
11. feat:openspace场景调用老的ssep算法 (details)
12. feat:打开红绿灯路口停车功能 (details)
13. feat:调整红绿灯停车的逻辑 (details)
14. feat:wcba限速添加参数 (details)
15. feat:imv 变道的安全校验参数化 (details)
16. feat:优化红绿灯停车 (details)
17. fix:调整红绿灯停车的刹车值 (details)
18. fix:修复uturn路径误过滤的bug (details)
19. feat:车车道出堆场不添加双黄线约束 (details)
20. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
21. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
22. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
23. 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)
24. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
25. chore: ssep-car-多段倒车入库提升成功率 (details)
26. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
27. feat: merge latest ssep - 跑通双向搜索fallback进堆场 (details)
28. fix: 修复ssep路径终点离设定终点过远的问题 (details)
29. feat:吊距防护相关的优化 (details)
30. fix: correct imv crab mode conditions. (details)
31. feat:适配 感知105类型 (details)
32. fix:重复进行四阶段的bug (details)
33. feat:吊距临停阈值和2nd 切换 lock 阈值一致 (details)
34. feat:3阶段过程中，假如吊具着箱，不进行4阶段对准 (details)
35. chore: SSEP: Decrease tractor-trailer bi-direction search time limit. (details)
36. feat:变道是否考虑身边的障碍物默认值修改成true (details)
37. feat:修改ssep碰撞检测阈值 (details)
38. fix:龙须点处理的bug (details)
39. fix:出堆场搜索的真实障碍物添加的bug (details)
40. 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)
41. feat: 进堆场使用双向搜索+keb优化 (details)
42. chore: keb-optimizer增加曲率约束校验 (details)
43. fix: 修复起点终点过远时反向搜索失效的问题 (details)
44. chore: SSEP: import tensorrt into ssep (details)
45. fix:修复崩溃的bug (details)
46. 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)
47. 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)
48. fix: max_acc = 0.5 for wbca velocity reference. (details)
49. fix: hmi load map. (details)
50. feat_out: path_opt in replayer. (details)
51. fix: velocity profile exception. (details)
52. fix: delete history in smooth mode. (details)
53. fix:修复封路变道的bug (details)
54. fix:引桥前变道的bug (details)
55. fix:可能崩溃的bug (details)
56. fix:修复合并的bug (details)
57. fix:修复合并的bug (details)
58. fix: using maximum vehicle size in WBCA (details)
59. fix:人工对准误创建约束 (details)
60. fix: abandon  last segment in wbca. (details)
61. fix: wbca debug msg. (details)
62. fix: end_velocity for wbca calc exception. (details)
63. fix: velocity profile exception. (details)
64. fix: add wbca debug var. (details)
65. fix: add wbca cost and time_consuming. (details)
66. fix: add lateral acc cost. (details)
67. fix: wbca bd expanding. (details)
68. feat: clear align times when align2nd to align1st. (details)

1. feat: 数据同步云控 (details)

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

Started by user haoxiangtao

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• origin/rc_dev_daxie

• origin/feat_entrance

• origin/rc_dev

• origin/feat-backtrace-params

• origin/rc_dev_add_lane_name