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Changes

Summary

  1. fix:修复连续普通路口搜索的bug (details)
  2. fix:身后障碍物过滤的bug (details)
  3. fix:replan逻辑的优化 (details)
  4. refacor:搜索的优化 (details)
  5. fix:编译的bug (details)
  6. fix:重复规划的bug (details)
  7. fix:出堆场，误进平滑模式的bug (details)
  8. fix:优化出堆场的搜索 (details)
  9. feat:翻斗角度过大停车值在bulkload场景下生效 (details)
  10. fix: SSEP: 修复苏溪出停车位时先往前走一段的问题。 (details)
  11. fix: SSEP路径当前段匹配的bug (details)
  12. fix: wbca debug (details)
  13. fix:修复正常跟踪场景使用pjpo的bug (details)
  14. fix:ssep replan崩溃的bug (details)
  15. fix:ssep replan崩溃的bug (details)
  16. fix: keep history when wbca failed. (details)
  17. fix: SSEP: 解决苏溪进停车位搜索失败的问题 (details)
  18. fix:完善搜索失败临时停车的功能 (details)
  19. fix:完善搜索失败临时停车的功能 (details)
  20. fix:修复崩溃的bug (details)
  21. fix:修复崩溃的bug (details)
  22. fix:修复太阳路口搜索失败的bug (details)
  23. fix:修复太阳路口搜索失败的bug (details)
  24. fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率 (details)
  25. chore: SSEP: minor update (details)
  26. chore: SSEP: minor updates (details)
  27. feat:car类型的普通路口搜索考虑边界 (details)
  28. feat:car类型的普通路口搜索考虑边界 (details)
  29. fix:修复可能崩溃的bug (details)
  30. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
  31. fix: SSEP: 修复优化器中起点曲率没有初始化的问题 (details)
  32. fix:修复可能崩溃的bug (details)
  33. refactor:优化太阳卸料区挡停的重搜索逻辑 (details)
  34. fix: start_pt from last_path. (details)
  35. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
  36. fix:连续载入快照崩溃的bug (details)
  37. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
  38. fix: start_pt from last_path. (details)
  39. feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100% (details)
  40. fix:连续载入快照崩溃的bug (details)
  41. fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。 (details)
  42. fix:董家口靠边作业的问题 (details)
  43. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
  44. fix: add curvature over limit temp stop. (details)
  45. fix: curvature_over_limit_stop_coefficient 10.0 (details)
  46. fix: truck start_pt exception. (details)
  47. feat:曲率超限停车优化 (details)
  48. feat:travel out 没有一次规划的适配 (details)
  49. fix:董家口靠边作业的问题 (details)
  50. feat:wbca求解失败后，使用ssep路径带来的路径跳变问题 (details)
  51. feat:曲率超限停车优化 (details)
  52. fix:调整曲率超限的滤波参数 (details)
  53. fix:调整曲率超限的滤波参数 (details)
Commit 96dd770176e26228fd29c61cc02026715172f539 by wuyanjun110
fix:修复连续普通路口搜索的bug
The file was modifieddata/scenario/scenario_manager.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/scenario/scenario_manager.hpp
The file was modifiedtasks/deciders/search_decider/normal_junction_search_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
Commit 695fff64fa4736d07866e890a724c343583c5bbd by wuyanjun110
fix:身后障碍物过滤的bug

The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifieddata/obstacle/ogm.cpp
The file was modifieddata/obstacle/ogm.hpp
Commit d247bb339222e350fd787a71a479568bf0ed31ef by wuyanjun110
fix:replan逻辑的优化

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit d42bda70f0ad41a8101e4fc2330c3a4ec654043d by wuyanjun110
refacor:搜索的优化

The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/normal_junction_ec.cpp
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/maps/ogm_builder.h
The file was modifieddata/ssep/forward_ec.hpp
The file was modifieddata/obstacle/obstacle.hpp
Commit 64fc8eb7b5a7cb2e7bbf128e5a507e50d84fc72f by wuyanjun110
fix:编译的bug

The file was modifieddata/ssep/ssep_activation.cpp
Commit e39dcd6e348848c6b5dc2a9693d2a2c5935ee8bb by wuyanjun110
fix:重复规划的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifieddata/decide/decide_reaction.hpp
The file was modifieddata/decide/decide_reaction.cpp
Commit 80a3a731804faad34751f3f8f417278758bad999 by wuyanjun110
fix:出堆场，误进平滑模式的bug

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit 8be78d94c2366b47fc8121f90d10b04f533d2327 by wuyanjun110
fix:优化出堆场的搜索

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/forward_ec.cpp
Commit 75887057ea21be1ced848f5999ea08ff77ccf013 by wuyanjun110
feat:翻斗角度过大停车值在bulkload场景下生效

The file was modifiedplan/prepare/prepare_status.cpp
Commit 3f2d0f9e82bed5c22b15cfffd4e07646880af8e3 by tangwenqing
fix: SSEP: 修复苏溪出停车位时先往前走一段的问题。

The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/scenarios/tractor_trailer_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/common/utils/map_element_utils.hpp
Commit bd4c9ce5154ceaa5cbc66533a1cf25f1faaab991 by wuyanjun110
fix: SSEP路径当前段匹配的bug

The file was modifieddata/plan/ssep_data.cpp
Commit eef8c7f5d131720b27e7968cb465c86942318c00 by 5081703.cr
fix: wbca debug

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit a2d46ddf2992606d6614efbb6ed0c17b60dc2c59 by wuyanjun110
fix:修复正常跟踪场景使用pjpo的bug

The file was modifiedscenarios/lane_follow_scenario/lane_follow_stage.cpp
Commit 28297f795caf72d646798903d3fd083ba1deb925 by wuyanjun110
fix:ssep replan崩溃的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit a2280fbda04c00660fb164010a98d11170518d9b by wuyanjun110
fix:ssep replan崩溃的bug

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 6ab8c4a5ece5a97023fa9a54e5c96d85f96ce8aa by 5081703.cr
fix: keep history when wbca failed.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit e1fe2a07e0db74892ba0be64b5a4f9a8abde9931 by tangwenqing
fix: SSEP: 解决苏溪进停车位搜索失败的问题

The file was addedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/offboard/generate_scene_data/CMakeLists.txt
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
Commit c16b73e94c97f0ec3e0f03cedbc3eebe84ae943f by wuyanjun110
fix:完善搜索失败临时停车的功能

The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/app/fsm/stop_reason.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifiedhmi/widget/distance.cpp
The file was modifiedplan/prepare/prepare_status.cpp
Commit b60e5edd5c9e5e787270b2730add4e5e536cea96 by wuyanjun110
fix:完善搜索失败临时停车的功能

The file was modifiedplan/prepare/prepare_status.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/config/cfg_long_plan.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/app/fsm/stop_reason.cpp
Commit b4d91bfa686aa2fb4f1117ebf89916980d892750 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/constrain/block_data.cpp
Commit 60722bedb0bfe876115ab368323bfe425bc0ed18 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/constrain/block_data.cpp
Commit 70769c56ebcce7a4768efb56a29b7c3df6b486dc by wuyanjun110
fix:修复太阳路口搜索失败的bug

The file was modifiedssep/ssep_planner.cc
Commit d4f5d00556593f1966db336ac44f7fb2137db11d by wuyanjun110
fix:修复太阳路口搜索失败的bug

The file was modifiedssep/ssep_planner.cc
Commit 6d8b01b90a73e83c5d63dc153ef5c7171781ec23 by tangwenqing
fix: SSEP: 1. 修复accurate reversing场景倒车最后三米忽略碰撞未触发的问题。2.提升苏溪进停车位成功率

The file was modifiedssep/offboard/scene_frame_provider.cc
The file was modifiedssep/offboard/ssep_planner_wrapper.cc
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_parking_spot_planner.h
The file was modifiedssep/keb_optimizer/rigid_truck_keb_optimizer.h
The file was modifiedssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/evaluator/evaluator.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
Commit c9a462d299b107c5dc45f46d0722aa40ee5d6ea0 by tangwenqing
chore: SSEP: minor update

The file was modifiedssep/keb_optimizer/imv_keb_optimizer.cc
Commit b4f7c119b49d613073d9d3b375ca6b588186a6ff by tangwenqing
chore: SSEP: minor updates

The file was modifieddingtalk_notify.py
The file was modifiedssep/scenarios/legacy_planner.h
Commit cf395aeeaac1c1cdd3d51a189434dd3703f8681c by wuyanjun110
feat:car类型的普通路口搜索考虑边界

The file was modifiedssep/ssep_planner.cc
Commit 44151439a0e53cc667b17e07254129dbde278706 by wuyanjun110
feat:car类型的普通路口搜索考虑边界

The file was modifiedssep/ssep_planner.cc
Commit 229c800ba4352945a799a8491da2b71f7c1f65e4 by wuyanjun110
fix:修复可能崩溃的bug

The file was modifieddata/map/envelop/map_envelops.cpp
Commit aef344cb0dd0624163466efc632ceed2629d8760 by wuyanjun110
refactor:优化太阳卸料区挡停的重搜索逻辑

The file was modifiedssep/ssep_planner.cc
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
Commit 61a5434182f70c1dfa39f7d13cd3f1a41abc94ae by tangwenqing
fix: SSEP: 修复优化器中起点曲率没有初始化的问题

The file was modifiedssep/maps/ogm.cc
The file was modifiedssep/keb_optimizer/data_structure.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 3618fa7db514a6bc6eb98a54a3a3c8b7d7b5963d by wuyanjun110
fix:修复可能崩溃的bug

The file was modifieddata/map/envelop/map_envelops.cpp
Commit f127eeb730dda2de1945eb08c3ed59c44414776e by wuyanjun110
refactor:优化太阳卸料区挡停的重搜索逻辑

The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedssep/ssep_planner.cc
Commit a1e87467a1da5bc638192f250825135cdaa70087 by 5081703.cr
fix: start_pt from last_path.

The file was modifieddata/plan/start_point_data.cpp
Commit 338a769cbefaa2e74bc5d68bd4a38dbf2113ba3c by tangwenqing
feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100%

The file was modifiedssep/offboard/ssep_input_provider.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
Commit 2fa77475c73f757e92ca48b6d2c4f689e7376fdc by wuyanjun110
fix:连续载入快照崩溃的bug

The file was modifiedreplayer/logic.cpp
The file was modifiedcommon/util/hdmap_wrapper.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
Commit 6d14adbd2676b9f700514425d7b866434ef14a37 by tangwenqing
fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。

The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/imv_general_planner.h
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
Commit 8f80031d0d7637e98c5c75d87998ead69c977688 by wuyanjun110
fix: start_pt from last_path.

The file was modifieddata/plan/start_point_data.cpp
Commit 2dd84a30e8bc4d52ef1d2a64dd5dcc33bd1685dd by wuyanjun110
feat: SSEP: 集卡多段倒车搜索器改进为双向搜索。复测威海、友谊关的问题场景，成功率100%

The file was modifiedssep/offboard/ssep_input_provider.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/offboard/scene_frame_provider.cc
The file was addedssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/offboard/generate_scene_data/transform_to_body_frame_cli.cc
The file was modifiedssep/offboard/generate_scene_data/trim_scene_paths_cli.cc
The file was modifiedssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/scenarios/tractor_trailer_multi_segment_parking_planner.h
Commit 8c6ef2c84e5d34a150d3a1551045e2fa440c642d by wuyanjun110
fix:连续载入快照崩溃的bug

The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
The file was modifiedreplayer/logic.cpp
The file was modifiedcommon/util/hdmap_wrapper.cpp
Commit 1d03336637287a2db83e7072e91334373502b167 by wuyanjun110
fix: SSEP: 修复IMV PULLOVER场景最后一段不走直线的问题。

The file was modifiedssep/scenarios/imv_enter_station_planner.h
The file was modifiedssep/scenarios/legacy_planner.h
The file was modifiedssep/scenarios/tractor_trailer_enter_yard_planner.h
The file was modifiedssep/scenarios/truck_accurate_reversing_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/scenarios/truck_general_planner.h
The file was modifiedssep/scenarios/imv_pullover_planner.h
The file was modifiedssep/scenarios/imv_exit_parking_spot_planner.h
The file was modifiedssep/coarse_search/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/scenarios/imv_general_planner.h
Commit 789ec4028b2a33883c841842faf1686cf1fe3b05 by wuyanjun110
fix:董家口靠边作业的问题

The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/ssep_data.cpp
The file was modifieddata/ssep/forward_ec.cpp
Commit 3ed68f77cd804238028515bf5a7aa49b385c324d by wuyanjun110
feat:wbca求解失败后，使用ssep路径带来的路径跳变问题

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit ac5fec5eea7a6a9c3520ba21ae2028944e7452bf by 5081703.cr
fix: add curvature over limit temp stop.

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/constrain/disable_stop_range.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/constrain/block_data.hpp
The file was modifieddata/constrain/temporary_stop_data.cpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/constrain/disable_stop_range.hpp
Commit 4a6df680159317e1c86c6b862322ee527d587dd1 by 5081703.cr
fix: curvature_over_limit_stop_coefficient 10.0

The file was modifieddata/config/cfg_safe_const.cpp
Commit e44350fef4a97e9401ba111fe8f1724a0f67adc6 by 5081703.cr
fix: truck start_pt exception.

The file was modifieddata/plan/start_point_data.cpp
Commit ba992138c997f6f6b70328429e12c07c9aa28d7a by wuyanjun110
feat:曲率超限停车优化

The file was modifiedhmi/widget/distance.cpp
The file was modifieddata/constrain/block_data.cpp
Commit 603d6e35a3c1e774ef27fad9e031f796025ab64a by wuyanjun110
feat:travel out 没有一次规划的适配

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_fsm/task_travel/task_travel_fsm.cpp
The file was modifieddata/other/flow_control.cpp
The file was modifiedtasks/other_tasks/create_reference_line.cpp
The file was modifieddata/plan/guide_line.cpp
Commit c8f1bbf9716afdacb9b3cd0748ed279c3e163e75 by wuyanjun110
fix:董家口靠边作业的问题

The file was modifieddata/ssep/forward_ec.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/ssep_data.cpp
Commit 020e0a83e2c76c9a584702ba9d3b745906d9ee74 by wuyanjun110
feat:wbca求解失败后，使用ssep路径带来的路径跳变问题

The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
Commit 76de2323c82763fdcbf6900399338d7b1b57918e by wuyanjun110
feat:曲率超限停车优化

The file was modifieddata/constrain/block_data.cpp
The file was modifiedhmi/widget/distance.cpp
Commit 5d51162a1acdd29317bf8299acf79949442d35f8 by wuyanjun110
fix:调整曲率超限的滤波参数

The file was modifieddata/constrain/block_data.cpp
Commit 491e5cdfcf5b781a314a2af34c5d16281c770781 by wuyanjun110
fix:调整曲率超限的滤波参数

The file was modifieddata/constrain/block_data.cpp