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Changes

Summary

  1. chore: keb task 增加最大转向角余量 (details)
  2. feat: 优化overlap s重计算，增加起始和结束点的有效性检查 (details)
  3. feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题 (details)
  4. fix: keb task ssep_end_s_ 赋值错误 (details)
  5. feat: 添加状态机切换时间参数并优化相关逻辑 (details)
  6. feat: 添加根据堆场内的车道名称扩展安全阈值 (details)
  7. chore: keb实时优化 将转向角余量 提取为配置参数 (details)
  8. chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹 (details)
  9. feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列 (details)
  10. feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算 (details)
  11. feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑 (details)
  12. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
  13. fix: 集卡搜索时滤除起点和终点车挂内部的og点 (details)
  14. fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径 (details)
  15. feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度 (details)
  16. feat: 杨浦 B003 B004适配 (details)
Commit 848e7e9667e7e592c8ed63ddffe0a6fe77666f13 by wuyanjun110
chore: keb task 增加最大转向角余量

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit e728ba79f6b5a2662364a9ec29e3b0d0f1cb99e2 by wuyanjun110
feat: 优化overlap s重计算，增加起始和结束点的有效性检查
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
Commit 4d8e13ea46ae52a342d5c9c904776950f10f37c3 by tangwenqing
feat: keb-task 输出的轨迹保持固定长度，解决轨迹越来越短导致到达不了终点的问题

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
Commit 84511bc52b02c727f9da034c0684d9bdc6f35ac0 by tangwenqing
fix: keb task ssep_end_s_ 赋值错误

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit bb8ff43e7286899e0c671a7550fb06a6b551c13d by wuyanjun110
feat: 添加状态机切换时间参数并优化相关逻辑
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/vehicle/spreader_protect.cpp
The file was modifieddata/config/cfg_safe_const.hpp
Commit 9276281ddd0799eed3e58febe0b78a605e0fc179 by wuyanjun110
feat: 添加根据堆场内的车道名称扩展安全阈值
The file was modifiedsink/ros_sink_pnc_status.cpp
Commit b47fe07fc71e78f3f8434b8744c9dc847d63eba1 by wuyanjun110
chore: keb实时优化 将转向角余量 提取为配置参数

The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit a02846152de185a088c757d3986eb904e1a4e17a by wuyanjun110
chore: SSEP: 集卡普通搜索过滤掉明显违反约束的轨迹

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit bd3a0cd23b9935933c797ca80fb7e28c8dbabe97 by wuyanjun110
feat: 对多个范围更新函数添加排序逻辑，确保范围按顺序排列
The file was modifieddata/constrain/block_data.cpp
Commit 489a31b19ece7734f23e580bd9daf4025f81ad72 by wuyanjun110
feat: 优化 JudgeInStraightLane 方法，重构逻辑以提高可读性和维护性，添加辅助函数以简化任务状态和区域状态的计算
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
Commit e47c3c07b6831723cd6fcec51d822e6a93b9c686 by wuyanjun110
feat: 优化 转场场桥的判断， 以及 场桥是否进行判断碰撞检测的逻辑
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/obstacle/obstacle.cpp
Commit b1675dfe8c52a2bf186d6788cc254920710cd40d by wuyanjun110
fix: 解决西联IMV进停车位搜索过慢的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit c3c9fddb6caedd6c3f73c42b6fc14e9e6bb61998 by wuyanjun110
fix: 集卡搜索时滤除起点和终点车挂内部的og点

The file was modifiedssep/maps/ogm_builder.cc
The file was modifiedssep/maps/ogm_builder.h
The file was modifiedssep/ssep_planner.cc
Commit 57789ddab86ba54d6cfba72af2518081b6b5d509 by wuyanjun110
fix: 修正堆垛机特殊区域的横向扩展长度参数加载路径
The file was modifieddata/config/cfg_safe_const.cpp
Commit bc071e41f2a92b8798ca568a10d6d7ebe6a4cb02 by wuyanjun110
feat: align move 状态下，假如挂的角度大于一定值，不倒车。 倒车的时候限制速度
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/plan/path_direction_data.cpp
Commit 9da2dbb539fbd9991221ecec7ed1b5ab5dcf5756 by wuyanjun110
feat: 杨浦 B003 B004适配
The file was modifieddata/ssep/into_yard_junction_ec.cpp