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Changes

Summary

  1. fix: and end_search_heading config (details)
  2. fix: heading 3.14 (details)
  3. fix: ssep replan for moving state (details)
  4. feat: add straight line path generation task (details)
  5. fix: ignore end_passing_pt_fake_heading (details)
  6. Revert "fix: ssep replan for moving state" (details)
  7. feat: extend straight path 20m beyond the target (details)
  8. feat: start straight path from ego projected onto target heading line (details)
  9. feat: project target onto history path and log projected distance (details)
  10. fix: reduce the log. stitch straight path to path data (details)
  11. fix: lane change bug (details)
  12. fix: ignore masked_box when map_dest > 30 (details)
Commit e9d0a74740fabba5a449c89c7534a6c622bb57ea by chenran
fix: and end_search_heading config
The file was modifieddata/config/cfg_env_const.cpp
The file was modifiedhmi/draw/draw_ego.cpp
The file was modifieddata/vehicle/sc_turn_in_place_mode.cpp
The file was modifieddata/config/cfg_env_const.hpp
Commit 7715bb59976cc8114ca9ca0ddd236bb09524eac4 by chenran
fix: heading 3.14
The file was modifieddata/config/cfg_env_const.cpp
Commit b47248a5bc6f002725f13395f16cd71303311243 by chenran
fix: ssep replan for moving state
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
The file was modifieddata/vehicle/deviation_status.hpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/vehicle/deviation_status.cpp
Commit 8336cbb5783d155b874225dff7f96ade53a06af3 by chenran
feat: add straight line path generation task

Add StraightPathTask under tasks/plan that generates a simple straight-line
path (linear interpolation, zero curvature) from the ego current position to
the perception-detected bulk target
(plan_frame.related_offsets_.final_offset_.bulk_target_pt_). Output goes
through guide_line_info path_data, mirroring PjpoTask / LaneChangePathTaskV2.

Register the task: add STRAIGHT_PATH_TASK to the TaskClass enum, the
string->enum map, and the task factory.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The file was addedtasks/plan/straight_path_task.cpp
The file was modifieddata/config/cfg_stage.cpp
The file was modifieddata/config/cfg_stage.hpp
The file was addedtasks/plan/straight_path_task.hpp
The file was modifiedtasks/task_factory.cpp
Commit 17621cac4acb72d932e52ba7c6f8b94d39029298 by chenran
fix: ignore end_passing_pt_fake_heading
The file was modifieddata/config/cfg_env_const.cpp
Commit ebbfdbc7250e8c7d11af4e3d2ba880e92b554898 by chenran
Revert "fix: ssep replan for moving state"

This reverts commit b47248a5bc6f002725f13395f16cd71303311243.
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/vehicle/deviation_status.cpp
The file was modifieddata/vehicle/deviation_status.hpp
The file was modifiedtasks/deciders/other_decider/replan_decider.cpp
The file was modifiedtasks/deciders/search_decider/forward_search_decider.cpp
Commit e816323c1d421bb03f9c61988e6bf8e5cf299c0e by chenran
feat: extend straight path 20m beyond the target

Continue the straight-line path past the detected bulk target in the same
heading for an extra 20 m, giving downstream control runway beyond the target.
Points are now derived from the ego start plus heading*s out to dist + 20 m.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The file was modifiedtasks/plan/straight_path_task.cpp
Commit 09fe3952acab4d9aa70a42ed6d7099bf5b4d56cc by chenran
feat: start straight path from ego projected onto target heading line

Use the target's own heading for the straight line instead of the ego->target
vector. Back-extend the start by projecting the ego onto the target-heading
line through the target (foot of the perpendicular, i.e. the line point nearest
the ego), and use that as the path start. The path then runs forward through
the target and 20 m beyond it.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The file was modifiedtasks/plan/straight_path_task.cpp
Commit 7267743682279fa5cbfdba0c036b7abf3442ddf3 by chenran
feat: project target onto history path and log projected distance

Before generating the straight path, project the detected bulk target onto the
history path (cur_->last_path_.path()) via Path::GetProjection and log the
signed lateral distance (and longitudinal s). Guards on history path
availability. Also drop a stray semicolon left from a prior edit.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The file was modifiedtasks/plan/straight_path_task.cpp
Commit a094c8dca1855b4e54cad26a3d6efabf35b0f88a by chenran
fix: reduce the log. stitch straight path to path data
The file was modifiedtasks/other_tasks/stitch_path_data_to_path.cpp
The file was modifiedtasks/plan/straight_path_task.cpp
Commit ec9e4307fd06afa0995d3233c87a3ff6f5c4154f by chenran
fix: lane change bug
The file was modifiedtasks/deciders/lat_decider/switching_bounds_decider.cpp
The file was modifiedtasks/plan/pjpo_task.cpp
The file was modifieddata/vehicle/deviation_status.cpp
Commit b3732c996e749468eca9039b8eac062ffba99e3e by chenran
fix: ignore masked_box when map_dest > 30
The file was modifiedplan/prepare/prepare_ogm.cpp

Summary

  1. fix: 障碍物尺寸对齐 PNC vehicle_config (直跨车 SC) (details)
  2. fix: 让 --center_to_* CLI 参数实际作用于障碍物/车辆尺寸 (details)
Commit 41f29d4ece11d028cfdf68d9be82fa761d303ebc by chenran
fix: 障碍物尺寸对齐 PNC vehicle_config (直跨车 SC)

障碍物(他车)尺寸由 objects 节点经 CfgIMV::GetCfg 取 center_to_* 计算。
SC(type 12)走 IMV 配置, 此前硬编码 7.7/7.7/1.425/1.425 -> 15.4m x 2.85m, 明显偏大。
按 PNC vehicle_config 修正为:
  center_to_front/back = head_base2front/tail = 3.0  -> 长 6.0m
  center_to_left/right = upper_head_base2left/right = 1.64 -> 宽 3.28m
同步更新 CfgStaticIMV::Load() 默认值(objects 节点未传 --vehicle_config 时实际生效者)
与 vehicle.json 的 imv 条目。

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The file was modifiedmulti_sim_logic/data/config/vehicle.json
The file was modifiedmulti_sim_logic/data/config/cfg_static_imv.cpp
Commit e7807f6efd40130b48e06dae557150b28b29b3e4 by chenran
fix: 让 --center_to_* CLI 参数实际作用于障碍物/车辆尺寸

此前 CLI 参数写入 CfgStaticIMV 单例, 但障碍物/底盘读取的是 CfgIMV::cfg_static_imv_
成员(由 cfg_static_imv_.Load() 重置为硬编码默认值), 两者互不相通, 导致 CLI 参数失效。

修改 CfgIMV::Load(): cfg_static_imv_.Load() 之后用 CfgStaticIMV 单例覆盖 cfg_static_imv_,
使无 vehicle_config 时的兜底尺寸跟随 CLI 参数。
同步把 node_objects / node_vehicle main.cpp 中 center_to_* 的 CLI 默认值
由 7.7/7.7/1.425/1.425 改为 PNC vehicle_config 对齐的 3.0/3.0/1.64/1.64。

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
The file was modifiedmulti_sim_logic/data/config/cfg_imv.cpp
The file was modifiedmulti_sim_logic/node_objects/main.cpp
The file was modifiedmulti_sim_logic/node_vehicle/main.cpp