Changes

#2918 (Dec 17, 2025 7:03:41 PM)

1. feat: 增加ssep scenario config，通过参数文件设置场景触发条件及场景参数 — tangwenqing / detail
2. chore: SSEP: 前港进出堆场改进 — tangwenqing / detail
3. chore: SSEP: 改善集卡多段出停车位效果 — tangwenqing / detail
4. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 — tangwenqing / detail
5. Refactor: SSEP: minor updates — tangwenqing / detail
6. feat: SSEP: 前进/后退时使用不同的碰撞检测策略。增加前进方向的额外碰撞检测。 — tangwenqing / detail
7. feat: SSEP: IMV更换新的运动学模型，额外状态量从后轮转向更改为beta — tangwenqing / detail
8. feat: 增加ssep-heatnet-2.0训练场景生成器 — tangwenqing / detail
9. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 — tangwenqing / detail
10. feat: SSEP增加IMV进堆场场景 — tangwenqing / detail
11. chore: SSEP: 调试IMV路径 — tangwenqing / detail
12. chore: Add proto converters. — tangwenqing / detail
13. refactor: 去除SSEP中不再用到的参数与相关处理。 — tangwenqing / detail
14. fix: SSEP 修复proto版本不兼容的问题 — tangwenqing / detail
15. chore: SSEP: 改进多段路径 - 短路径去除的逻辑 — tangwenqing / detail
16. refactor: update cmakelist — tangwenqing / detail
17. chore: 改进出堆场搜索，调整offboard部分代码 — tangwenqing / detail
18. chore: 改进友谊关多段倒车路径形状 — tangwenqing / detail
19. fix: SSEP: proto去除optional关键字 — tangwenqing / detail
20. feat: SSEP: 完成ssep相关的proto定义。 — tangwenqing / detail
21. fix: fix building issue — tangwenqing / detail
22. fix: 修复imv优化器斜行代价太小的问题 — tangwenqing / detail
23. fix: clear route in smooth mode when large deviation. — 5081703.cr / detail
24. fix: clear route in smooth mode when large deviation. — 5081703.cr / detail
25. chore: SSEP: 实现SceneFrame的构建 — tangwenqing / detail
26. fix: wbca smoth_mode route interval — 5081703.cr / detail
27. feat:适配梁山港 — wuyanjun110 / detail
28. factor:添加搜索途径点的绘制 — wuyanjun110 / detail
29. feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。 — tangwenqing / detail

#2916 (Dec 17, 2025 3:47:14 PM)

1. fix: clear route in smooth mode when large deviation. — 5081703.cr / detail
2. chore: SSEP: 实现SceneFrame的构建 — tangwenqing / detail
3. fix: wbca smoth_mode route interval — 5081703.cr / detail
4. feat: SSEP: 1. 增加集卡进停车位场景。2. 集卡出停车位场景倒车时增加额外后向检测。 — tangwenqing / detail
5. chore: ssep: yangpu enter yard — tangwenqing / detail
6. chore: SSEP: 改进杨浦进堆场路径 — tangwenqing / detail
7. feat: add KappaRateCost. — 5081703.cr / detail
8. fix: add use_func_stationary_steering_activation — 5081703.cr / detail
9. chore: SSEP: yangpu进堆场路径调试 — tangwenqing / detail
10. fix: ignore 107 cloud_pt in driving corridor — 5081703.cr / detail

#2915 (Dec 17, 2025 3:18:09 PM)

1. fix:宽度补偿的bug — wuyanjun110 / detail