[Jenkins]Jenkins

Changes

Summary

  1. feat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。 (details)
  2. feat: Keb optimizer task 单线程功能完成 (details)
  3. feat: Keb path optimize task 支持异步（多线程）模式。 (details)
  4. chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy. (details)
  5. fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。 (details)
  6. chore: Keb-Path-Opt-Task 调优，缩放道路边界，调整多边形障碍物参数等。 (details)
  7. chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点 (details)
  8. fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。 (details)
  9. feat: 添加角度显示功能，增强PncGraphicsView的交互性 (details)
  10. fix:修复误进入openspace的bug (details)
  11. fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 (details)
  12. fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug (details)
  13. fix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。 (details)
  14. fix: 调整RefMatch匹配条件的范围以增强灵活性 (details)
  15. fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区 (details)
  16. fix: SSEP: 解决西联IMV进停车位搜索失败的问题 (details)
  17. fix: l_bfgs optimization. (details)
  18. feat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出 (details)
  19. feat: 添加Keb路径优化任务的执行和重置功能，并更新场景接口 (details)
  20. feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑 (details)
  21. fix: keb-path-optimize-task 优化低贝位挂车不直的问题 (details)
  22. fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑 (details)
  23. chore: keb-path-optimize-task finetune. (details)
  24. feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能 (details)
  25. chore: 优化keb-path-optimize-task进堆场效果 (details)
  26. feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能 (details)
  27. chore: keb param adjust (details)
  28. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  29. feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (details)
  30. fix: keb task finetune (details)
  31. chore: keb task 关键参数提取 (details)
  32. fix: SSEP: 进堆场优化用终点硬约束 (details)
  33. chore: keb-task 使用终点约束 (details)
  34. feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理 (details)
  35. feat:调整指令的类别 (details)
Commit 8949f783ad1beb73ef96d65dafc77bf62970853e by tangwenqing
feat: 增加keb optimize task (baseline version)，仿真可以运行。剩余工作：1. 多线程运行 2. 无SSEP轨迹时fallback为pjpo task。

The file was modifieddata/config/cfg_stage.hpp
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedssep/data_structures/path.h
The file was modifieddata/config/cfg_stage.cpp
The file was addedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/task_factory.cpp
The file was addedtasks/plan/keb_path_optimize_task.cpp
Commit 978096f8d9bd68740c1cc23d1d60ea5ce1fa09e4 by tangwenqing
feat: Keb optimizer task 单线程功能完成

The file was modifiedssep/data_structures/path_utils.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 9e61440a54d4a4d9ba5f6d79d76bc84ef225b5e7 by tangwenqing
feat: Keb path optimize task 支持异步（多线程）模式。

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 19551aed1c4d603d6af3351db48ca4c83b6c67cf by tangwenqing
chore: Finetune Keb-Path-0ptimize-Task and add warm-start stretagy.

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit bbcd70c8e3cfc961046a945890a08281ecd18571 by tangwenqing
fix: SSEP: 修复IMV进充电桩方向与现场任务不一致的问题。

The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 8101d8ebf6ca8142278ca0d1491c2ce9622bba6c by tangwenqing
chore: Keb-Path-Opt-Task 调优，缩放道路边界，调整多边形障碍物参数等。

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/data_structures/polyline.cc
The file was modifiedssep/data_structures/polyline.h
The file was modifiedssep/data_structures/path_utils.h
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 6751b29aa1f63012d68615b08fd675060fe76c28 by tangwenqing
chore: SSEP: 集卡上下码头面可以在standby_guide_line上任意匹配终点

The file was modifiedssep/scenarios/tractor_trailer_general_planner.h
Commit d725454ddae3355ba0c05e4ed9600f230ab6153b by tangwenqing
fix: SSEP: 修复IMV普通搜索极限场景下可能画龙的问题。

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
Commit c8e821186992f60df26f209fe665bd2582a060f3 by wuyanjun110
feat: 添加角度显示功能，增强PncGraphicsView的交互性
The file was modifiedhmi/common/pnc_graphics_view.hpp
The file was modified.clangd
The file was modifiedhmi/common/pnc_graphics_view.cpp
Commit 140041f723b7605ba0c3f541cf93137b952dcb5b by wuyanjun110
fix:修复误进入openspace的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 937254808f46c55561908ecdcb1bc38c60fc631f by wuyanjun110
fix: 调整最大速度阈值以优化后向Ogm忽略逻辑
The file was modifieddata/other/flow_control.cpp
Commit bcbdf46ad462f619475c1fdf3fb71e834a30d778 by wuyanjun110
fix: 修复车辆行进过程中，误进routing 方向的更新逻辑的bug
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 4b50a49607424665f8acfd256ac9e1dbd1baea94 by tangwenqing
fix: Keb Path Optimize Task解决方向盘抖动的问题（启用warm start）。改善低贝位挂车拉不直的问题。

The file was modifiedssep/data_structures/path.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit b4c8509dc59d5b832c6f297fbea4cb1161112772 by wuyanjun110
fix: 调整RefMatch匹配条件的范围以增强灵活性
The file was modifieddata/map/reference/reference_segment.cpp
Commit a73b8f4d7d8f7e5659d3be56c8f20f13c3e3ba9b by wuyanjun110
fix: 添加禁停区逻辑以避免在倒车路径区域创建禁停区
The file was modifieddata/constrain/block_data.cpp
Commit 676d5a425b2d7245cc5964a500bba444c3e2007e by tangwenqing
fix: SSEP: 解决西联IMV进停车位搜索失败的问题

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/imv_enter_station_planner.h
Commit 54642a4d385953f418422c708d1c011a5b7cd8d6 by chenran
fix: l_bfgs optimization.
The file was modifiedthirdparty/lbfgs/lbfgs.hpp
Commit 8fb3e52371e6b397cdf014eb49b6bd06c8a3651d by wuyanjun110
feat: 添加获取shared_msgs的commit id和分支名称功能，并更新版本信息输出
The file was modifiednode/main.cpp
The file was modifiedCMakeLists.txt
The file was modifiedreplayer/main.cpp
The file was modifiedcommon/other/version.hpp
Commit a7d725fc7c38581e5d41df1e9a44e812be9fdc51 by wuyanjun110
feat: 添加Keb路径优化任务的执行和重置功能，并更新场景接口
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.hpp
The file was modifiedscenarios/scenario_interface.hpp
The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifiedscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedscenarios/scenario.cpp
Commit 0ccd53b38e6cf5b4986459323cfb5fc3bce2d87c by wuyanjun110
feat: 实现OutYardJunctionFirstStage类中的ExecuteTaskOnReferenceLine方法，增强任务执行逻辑
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.hpp
The file was modifiedscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cpp
Commit 26f67573d71e96ade8fcb594cdcff81a75d1e006 by tangwenqing
fix: keb-path-optimize-task 优化低贝位挂车不直的问题

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/tractor_trailer_keb_optimizer.cc
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit 8daab03cfcdd70c6d39cd7a41c0042f2e24d8728 by wuyanjun110
fix: 调整ReferenceRoadSection和ReferenceSegment中的位置判断条件，优化边界处理逻辑
The file was modifieddata/map/reference/reference_segment.cpp
The file was modifieddata/map/reference/reference_road_section.cpp
Commit 771e068e36b299ceb0ee0718cd9eb38dda67c5e7 by tangwenqing
chore: keb-path-optimize-task finetune.

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit bdf1ef7712f7e5b5ed7747856466c73e81e90765 by wuyanjun110
feat: 添加ClearAreaOverlap类及相关逻辑，优化清晰区域处理和绘制功能
The file was modifieddata/map/pnc_map/path_overlap.cpp
The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/map/pnc_map/path_overlap.hpp
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
Commit 68884d9316d33b45fc13365f4ffaf29e9a7e481e by tangwenqing
chore: 优化keb-path-optimize-task进堆场效果

The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
Commit 823980e823db5df3c886893d6f87f528f9fb2db6 by wuyanjun110
feat: 添加CmdReduceSafeDistance类及相关逻辑，优化安全距离处理功能
The file was modifieddata/app/fsm/task_command_type.hpp
The file was modifieddata/app/reaction/app_reaction.hpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/app_data.cpp
The file was modifieddata/app/reaction/app_reaction.cpp
The file was modifieddata/app/app_data.hpp
The file was addeddata/app/cmd/cmd_reduce_safe_distance.cpp
The file was modifieddata/constrain/longitude_constrain.cpp
Commit aafa159991f4a48c9ef692f1a8e047e7c424afb6 by tangwenqing
chore: keb param adjust

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit de884128bc0875b3d57de275946de95f2cd8b3e0 by wuyanjun110
feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 1bd0449b5f8dcfa94fec6c7945fe60d974d9ad32 by wuyanjun110
feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断
The file was modifieddata/ssep/into_yard_junction_ec.cpp
Commit 721aad94a7dfbc0f93058ae6450a28f2dd043489 by tangwenqing
fix: keb task finetune

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 0b608a2fa4fd2c989e96867676775c39bae76060 by tangwenqing
chore: keb task 关键参数提取

The file was modifiedtasks/plan/keb_path_optimize_task.hpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifieddata/config/cfg_lat_plan.cpp
The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 9c5c170342494671d0cf0ac64b8a6e7f4b2af70d by tangwenqing
fix: SSEP: 进堆场优化用终点硬约束

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 84ff4a2e3dde08f3d0742036d1c94610e9ab1d44 by tangwenqing
chore: keb-task 使用终点约束

The file was modifiedtasks/plan/keb_path_optimize_task.cpp
Commit 8eafd16a9aeb91372cbbeb9b45ed48da8f9af4e3 by wuyanjun110
feat: 更新MapEnvelops类，增强路径转换功能，支持备用地图包络处理
The file was modifieddata/map/envelop/map_envelops.hpp
The file was modifieddata/ssep/open_space_ec.cpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
The file was modifieddata/map/envelop/map_envelops.cpp
The file was modifieddata/plan_frame.hpp
The file was modifieddata/ssep/online_region_contour_creator.cpp
The file was modifieddata/ssep/open_space_ec.hpp
The file was modifiedplan/prepare/prepare_map_related.cpp
Commit 88d62ee670ee5f633ebb48441a4bd2b2404fef60 by wuyanjun110
feat:调整指令的类别

The file was modifieddata/app/fsm/task_command_type.hpp

Summary

  1. feat_out:增加订阅/version_info/params,消息分支及commitid (details)
  2. feat_out:版本号连接符改为&& (details)
Commit 157622c4c36ae5b637d243db53cd012739737ee2 by zhaojianfeng2
feat_out:增加订阅/version_info/params,消息分支及commitid
The file was modifiedsrc/RMInterpreter/ros_mqtt_bridge.cpp
The file was modifiedCMakeLists.txt
Commit 6e8b0a4b48aaa79573026649844eb5abbfff5b77 by zhaojianfeng2
feat_out:版本号连接符改为&&
The file was modifiedCMakeLists.txt

Summary

  1. feat: 新质量估计仅观测 && 停车距离预估用于刹车 (details)
  2. fix: 停车距离预估功能优化 (details)
  3. fix：质量估计优化 (details)
  4. fix:平行驾驶优化 (details)
  5. feat: the creep brake consider weight (details)
  6. fix: 对准优化 (details)
  7. fix: 停车预估配置参数bug (details)
  8. feat: parking distance estimator add first stage gain (details)
  9. fix: truck creep 中积分项修复 (details)
  10. fix: 默认关闭新功能 (details)
  11. feat: creep增加动力学前馈但默认关闭 && creep日志记录优化 (details)
  12. feat: creep中的position模式变更策略 (details)
  13. feat: 对准末端速度参数化 (details)
  14. fix: 使用底盘速度的消息源更改 (details)
  15. fix: cmake using clang. (details)
  16. feat: 增加TCS功能 (details)
  17. feat：高精轮速对准和大转向时跟踪优化 (details)
  18. feat: 解决低速跟踪差的问题 (details)
  19. optimize PID integral and TCS (details)
  20. feat: 对准日志存储位置更改 (details)
  21. feat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 (details)
  22. feat: 更改日志记录 (details)
  23. feat: 增加全流程的纵向动力学log记录 (details)
  24. feat: 积分策略改变，倾向于保持减速 (details)
  25. fix: 积分项回收逻辑调整回上一版，更改参数 (details)
  26. fix: 修改防滑log记录 (details)
  27. feat: 高精轮速使用的防护 (details)
Commit a923869ff2b65ba1d498bbcf665233ce775f4e18 by liuhongshuo
feat: 新质量估计仅观测 && 停车距离预估用于刹车
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifieddata/config/cfg_static.cpp
The file was addedmath/filter/lowpass_filter.hpp
The file was modifieddata/ctrl/vehicle_attr.hpp
The file was addeddata/config/cfg_parking_distance.hpp
The file was addeddata/config/cfg_parking_distance.cpp
The file was modifiednode/process/prepare/prepare_attr.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was addedmath/identification/vehicle_mass_estimator.cpp
The file was modifieddata/config/cfg_mass_estimation.hpp
The file was modifieddata/config/cfg_static.hpp
The file was addedmath/identification/vehicle_mass_estimator.hpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was addedmath/identification/parking_distance_estimator.cpp
The file was modifiednode/process/prepare/prepare_traj.cpp
The file was modifieddata/ctrl_frame.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiedmath/util/algebra.cpp
The file was addeddata/config/cfg_lon_dynamic_mpc.cpp
The file was addedmath/filter/lowpass_filter.cpp
The file was modifieddata/ctrl/vehicle_attr.cpp
The file was addedmath/identification/parking_distance_estimator.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was addeddata/config/cfg_lon_dynamic_mpc.hpp
Commit 7dda8c34a63e4d30cf3dcf9780f3aa263b839484 by liuhongshuo
fix: 停车距离预估功能优化
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was modifiedmath/identification/parking_distance_estimator.hpp
The file was modifiednode/logic.cpp
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 2799ce7485702c9d7189502f490de21a8aa15fa0 by liuhongshuo
fix：质量估计优化
The file was modifiedmath/identification/vehicle_mass_estimator.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifieddata/config/cfg_static.hpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedmath/identification/vehicle_mass_estimator.hpp
The file was modifiednode/logic.cpp
Commit 4f01eede08a21e7f5b7bcf889161d952c84f998e by liuhongshuo
fix:平行驾驶优化
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit 90f98d70883afe14d1fb6d43076799142013caf5 by liuhongshuo
feat: the creep brake consider weight
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifieddata/config/cfg_creep.hpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 8466365acd87ff59ad79555ffa2b88589270c612 by liuhongshuo
fix: 对准优化
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifiedmath/identification/parking_distance_estimator.hpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
The file was modifieddata/config/cfg_parking_distance.hpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit ce524138624fd65d93879bf9aaec24d18f0eb824 by liuhongshuo
fix: 停车预估配置参数bug
The file was modifieddata/ctrl_frame.cpp
Commit 715acf05d21b6221e37f946500215ce57e1a0fb1 by liuhongshuo
feat: parking distance estimator add first stage gain
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifieddata/config/cfg_parking_distance.hpp
The file was modifiedmath/identification/parking_distance_estimator.hpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
Commit dd7bdbfa7e4a6fbd98a506fcbb6f91548f98348a by liuhongshuo
fix: truck creep 中积分项修复
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 3789b319f892ee4d2d001a7eed76c49e3d33dfd6 by liuhongshuo
fix: 默认关闭新功能
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
Commit 15ddb883751c5e495ab1bc53780ce75c4cb9c828 by liuhongshuo
feat: creep增加动力学前馈但默认关闭 && creep日志记录优化
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modified.gitignore
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
Commit 9e3d2535ae2b3f4b1ec84118c55fc1d377e930bc by liuhongshuo
feat: creep中的position模式变更策略
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
Commit 07d9a9a7bf6e2e03e27c50b94c7d6d86c4e66036 by liuhongshuo
feat: 对准末端速度参数化
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit e5748087e51b8fb72bc49d5bf1d9de4ad7e584c4 by liuhongshuo
fix: 使用底盘速度的消息源更改
The file was modifieddata/vehicle/vehicle_state.cpp
Commit f7d781d64edec62cc423975239d6b9784f6e7c05 by 5081703.cr
fix: cmake using clang.

The file was modifiedCMakeLists.txt
The file was modifiedcommon/log/log_config.cpp
Commit 7ab75f2e7389e06a4e5b061be3120e07497a0a36 by liuhongshuo
feat: 增加TCS功能
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifieddata/ctrl/observer_debug_data.hpp
Commit be6f849a5145cede55d1b392e3a71223ce2b0e97 by liuhongshuo
feat：高精轮速对准和大转向时跟踪优化
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
Commit 0c12f43c28613db29ecd5782d5278922c7229bc2 by liuhongshuo
feat: 解决低速跟踪差的问题
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 51a0c112176584bbb075a10bd56d78c1240cd8e7 by liuhongshuo
optimize PID integral and TCS
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was addedAGENTS.md
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was addeddocs/task_plan.md
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was addeddocs/findings.md
The file was addeddocs/progress.md
The file was modifieddata/ctrl/longctrl_data.cpp
Commit 35e8faa7c435af6edb0ad51c3b614fd7e11fa6e4 by liuhongshuo
feat: 对准日志存储位置更改
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit add59702865f016f9a043b9c06316c99528c539f by liuhongshuo
feat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiednode/process/prepare/prepare_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifieddata/ctrl/creep_data.hpp
Commit b450e3744d3a5853fa3337157d2657203597fed9 by liuhongshuo
feat: 更改日志记录
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit df8de0e679dab840f39bcf76b4418fe23662b220 by liuhongshuo
feat: 增加全流程的纵向动力学log记录
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/ctrl_frame.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedAGENTS.md
The file was modifiednode/logic.cpp
The file was modifieddocs/progress.md
The file was modifieddocs/task_plan.md
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddocs/findings.md
Commit c3d2ee1f98f6a326c710fc74cce7f393d09f5f6a by liuhongshuo
feat: 积分策略改变，倾向于保持减速
The file was modifieddata/ctrl_frame.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit f380266dceafb579463bc18fa7df5ed7f471852d by liuhongshuo
fix: 积分项回收逻辑调整回上一版，更改参数
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit d145f0f980059c43b4cc65cb0b27ce98ea651812 by liuhongshuo
fix: 修改防滑log记录
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifieddata/ctrl/observer_debug_data.cpp
Commit 5bf31e54ca59e77e23f3a7a1f85a28f010466bbf by liuhongshuo
feat: 高精轮速使用的防护
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifieddata/ctrl/creep_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
The file was modifiednode/process/prepare/prepare_creep.cpp