Build #2017 (Aug 21, 2026 8:07:50 PM)

1. fix:优化动态下码头面搜索终点选取的问题 (details)
2. refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug (details)
3. fix: del mode=0 (details)
4. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
5. feat: 添加核心对象库并优化可执行文件链接逻辑 (details)
6. feat: add smooth_mode_wbca_params (details)
7. fix: smooth_mode_wbca_params bug (details)
8. fix: lock historical cloud point in replayer. (details)
9. fix: add FORWARD_BEFORE_BACKWARD (details)
10. fix: ssep replan for  reversing truck. (details)
11. fix: refine deviation_stop params. (details)
12. fix: path disapearing issue. (details)
13. fix: trailer_path_ego match issue. (details)
14. refact: straighten then reverse. (details)
15. fix: using map lane width for single line lane detection (details)
16. feat: stop for localization switching. (details)
17. fix: log msf localization switching status. (details)
18. fix: road segment splitting bug. (details)
19. refact: GetRoadSegmentFirstSplitPos (details)
20. fix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 (details)
21. fix: 解决西联IMV进停车位搜索过慢的问题 (details)
22. feat: 普通卡车多段倒车入库时适配拉直点逻辑 (details)
23. fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 (details)
24. fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 (details)
25. feat: add position check for reversing (details)
26. fix: disable revsersing deviation. (details)
27. feat: limit straithen times. (details)
28. feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 (details)
29. fix: reversing times bug (details)
30. fix: checkout feat_keb_task (details)
31. fix: reversing ssep planner bug (details)
32. fix: reversitong activation position thr 10.0 (details)
33. feat: add lbfgs prevous version. (details)
34. fix: curvature over limit filer. (details)
35. feat:合并ssep (details)
36. fix: checkout ssep from feat_keb_task (details)
37. feat: checkout relate_offset from feat_straddle_v2 (details)
38. feat: add DeviationStatus (details)
39. feat: add update_end_position for ssep replan. (details)
40. feat: deviation for align (details)
41. fix: ssep replan for bulk align. (details)
42. fix: reverse bulk offset heading (details)
43. feat: limit reversing align times (details)
44. fix: log align info; serialize bulk_align_offset (details)
45. fix: log stop_deviation_for_algn (details)
46. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
47. fix: pnc_map splitting error. (details)
48. fix: SSEP: 提升太阳纸业自卸车出堆场成功率 (details)
49. chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 (details)
50. fix: SSEP: 修复多段倒车路径异常问题 (details)
51. feat: set up max_forward_distance (details)
52. fix: SSEP: 修复自卸车进卸料区路径有点斜的问题 (details)
53. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
54. fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 (details)
55. fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 (details)
56. fix: straight lane near crane and lock_station (details)
57. feat: ssep replan for localization exception. (details)
58. feat: waiting for lift traile; using heading error for reversing align (details)
59. fix: checkout feat_keb_v2 ssep (details)
60. fix: add max_forward_distance_for_straighten_trailer (details)
61. fix: deviation_status bug (details)
62. fix: ignore path optimizor in park_in state. (details)
63. chore: SSEP: 集卡多段倒车接挂适配超窄库位 (details)
64. refactor:优化界面耗时 (details)
65. fix: using straighten replan logic for path_direction_change replan type (details)
66. fix: SSEP: 解决威海多段倒车距离og墙太近的问题 (details)
67. fix: checkout feat_keb_v2 (details)
68. feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 (details)
69. fix: 修复威海车型不匹配的问题 (details)
70. chore: SSEP: 减小集卡多段倒车的最大曲率 (details)
71. fix:修复快照播放崩溃的bug (details)
72. fix: check out feat_keb_v2 ssep (details)
73. fix: add ssep_forward_ec_tail_straight_distance (details)
74. fix: ssep replan bug (details)
75. fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 (details)
76. chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 (details)
77. feat: SSEP: 调整集卡多段倒车拉直逻辑 (details)
78. fix: build error (details)
79. feat: 添加<cstddef>头文件以支持大小类型 (details)
80. 桥区重规划: 上桥切下桥触发重规划并重置搜索状态 (details)
81. refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks (details)
82. 桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 (details)
83. fix: multi-frames trigger (details)
84. fix: truck reversing path kappa calculation (details)
85. fix: extending distance from current ego position. (details)
86. feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 (details)
87. fix: revering in straight line (details)
88. fix: is_in_straight_lane = false during park state (details)
89. fix: disable replan during path direction changing for straightening (details)
90. feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 (details)
91. chore: SSEP:  解决集卡倒车距离障碍物较近时会倒着进的问题 (details)
92. chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 (details)
93. fix: synchronize straighten hold with SSEP search (details)
94. fix: stabilize STEP_ALIGN trajectory (details)
95. chore: 注释掉WHBULK的终点约束 (details)
96. feat: 稳定障碍停车约束释放 (details)
97. test: 补充障碍停车约束自动化场景 (details)
98. feat: 展示障碍停车约束诊断 (details)
99. fix: 修复 SSEP 离线回放构建 (details)
100. feat: SSEP: Add coarse search tutorial. (details)
101. fix: 修正拖挂车指令重规划拉直判定 (details)
102. fix: 取消威海散货引桥终点约束 (details)
103. chore: SSEP: 更新集卡启发项表生成器 (details)
104. feat: 超视距线支持按高度分层 (details)
105. fix: 补充 SC 目标点类型显示 (details)
106. fix: 设置初始位姿时保留定位高度 (details)
107. fix: 修正拖挂停车途经点判定 (details)
108. doc: SSEP: Add keb tutorial (details)
109. fix: 修正拖挂车指令重规划拉直判定 (details)
110. fix: 取消威海散货引桥终点约束 (details)
111. feat: 超视距线支持按高度分层 (details)
112. fix: 修复 BulkOut 重规划状态误退出 (details)
113. fix: 修正横向规划器类型识别 (details)
114. fix: 统一 BulkOut 的 SSEP 前向阶段 (details)
115. feat: 增加 KEB 规划可视化与诊断 (details)
116. fix: 修复绕行边界与会车响应 (details)
117. fix: 补充快照加载失败诊断 (details)
118. docs: 补充算法场景回放建设方案 (details)

1. feat_out: "增加GetConditionNoDrivingRegions接口" (details)
2. feat_out: 增加Region_Gate类型 (details)

Started by upstream project orin-module-slave32 build number 4967
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• refs/remotes/origin/master

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• origin/rc_dev_qiangang_config

• origin/feat_sidepass_lattice

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