feat: 新增障碍物置信度评分行人靠近报警 — liuhongshuo / detail
feat: 预警时间间隔参数化 — liuhongshuo / detail
feat: 合并冲突 — liuhongshuo / detail
feat: 新增障碍物置信度评分行人靠近报警 — wuyanjun110 / detail
feat: 预警时间间隔参数化 — wuyanjun110 / detail
feat: 合并冲突 — wuyanjun110 / detail
feat: DeadLock新的停止点在1m以内车辆不启动 — liuhongshuo / detail
fix: DeadLock 使用历史纵向约束判断近距离停车锁存状态 — liuhongshuo / detail
chore: Keb: 忽略ssep_ec中缓存的real obstacles — tangwenqing / detail
fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留 — wuyanjun110 / detail
perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效 — wuyanjun110 / detail
fix: 远程单次直线步进END后不退出循环重回MOVE — wuyanjun110 / detail
fix: park子状态机收普通任务卡死PARK_MOVE无法退出 — wuyanjun110 / detail
refactor: SSEP: 移除ilqr集卡轨迹库功能 — tangwenqing / detail
fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级 — wuyanjun110 / detail
fix: Path/DiscretizedPath 空与单点场景既有隐患修复 — wuyanjun110 / detail
feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 — tangwenqing / detail
fix: 速度置信度的引入收敛到只影响行人靠近预警功能 — liuhongshuo / detail
fix: 格式漂移更改配置参数更改 — liuhongshuo / detail
fix: revering in straight line — chenran / detail
fix: is_in_straight_lane = false during park state — chenran / detail
fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入 — wuyanjun110 / detail
feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 — tangwenqing / detail
fix: SSEP: 修复变道轨迹末端可能画龙的问题 — tangwenqing / detail
chore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 — tangwenqing / detail
feat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景 — wuyanjun110 / detail
feat: HMI快照按钮触发发SNAP录包(关掉决策结果保存) — wuyanjun110 / detail
fix: 极限变道弯道tunnel沿参考线折线化, 补挂车offtracking裕量与急弯降级 — wuyanjun110 / detail
fix: SSEP: 解决终点区域被加入close set导致无法搜到终点的问题 — tangwenqing / detail
feat: SSEP: IMV新增基于pass point倒车点的多段搜索 — tangwenqing / detail
build: Debug 调试信息拆到 .dwo, 链接改用 lld — wuyanjun110 / detail
fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用 — wuyanjun110 / detail
feat: 锁站方向判定增加终点在车后倒车分支 — wuyanjun110 / detail
fix: 途径点匹配改按横向距离绝对值取最近中心线 — wuyanjun110 / detail
fix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码) — wuyanjun110 / detail
feat: 添加车辆最大曲率计算函数，优化运动学处理 — wuyanjun110 / detail
fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用 — wuyanjun110 / detail
fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲 — wuyanjun110 / detail
feat: 云端轨迹下发各 lane 的剩余长度与总长度 — wuyanjun110 / detail
feat: HMI 显示 road boundary 的 shift type — wuyanjun110 / detail
fix:修复合并的bug — wuyanjun110 / detail
chore: KEB: 集卡lane follow优化轨迹末状态使用软约束、调整参数 — tangwenqing / detail
feat: 增加堆高机侧向吊具高度防护 — wuyanjun110 / detail
feat: 显示障碍物朝向与速度方向 — wuyanjun110 / detail
fix: 禁止跳过动态场桥临停约束 — wuyanjun110 / detail
feat: 支持真石 IMV 按途经点多段停车 — wuyanjun110 / detail
chore: SSEP: Duplicate turning-in-place points in straddle carrier scenario. — tangwenqing / detail
fix: 修复直线步进指令立即中断 — wuyanjun110 / detail
fix: 提前窄路靠边车辆绕行判定 — wuyanjun110 / detail
fix: 防止DP搜索中断后绕行路径错误回正 — wuyanjun110 / detail
fix: SSEP: IMVMultiSegmentParking: Use given pass point heading as heuristic search target. — tangwenqing / detail
fix: 稳定动态障碍绕行边界切换 — wuyanjun110 / detail
fix: 稳定窄路会车的 DP 采样边界 — wuyanjun110 / detail
fix: 过滤未沿道路对齐的会车收边 — wuyanjun110 / detail
fix: 修正 DP 动态障碍横向范围过滤 — wuyanjun110 / detail
feat: 支持受控低速车辆超车 — wuyanjun110 / detail
fix: 收紧快速对向会车边界 — wuyanjun110 / detail
fix: 保持绕行路径连续性 — wuyanjun110 / detail
fix: 修正录包触发模块标识 — wuyanjun110 / detail
fix: 延迟普通出堆场区域切换 — wuyanjun110 / detail
fix: 稳定任务切换期间区域状态 — wuyanjun110 / detail
fix: serialize WBCA max cost — chenran / detail
fix: 低速出桥场景适配锁站安全档位 — wuyanjun110 / detail
fix: plan from history in low speed — 5081703.cr / detail
fix: 修正场景规划器过早退出判断 — wuyanjun110 / detail
fix: update WBCA for truck and imv — chenran / detail

#1971 (Aug 4, 2026 12:03:26 PM)

fix: recover lattice planner from stop fallback loop — chenran / detail
fix: 延迟普通出堆场区域切换 — wuyanjun110 / detail
fix: 稳定任务切换期间区域状态 — wuyanjun110 / detail
fix: 修正录包触发模块标识 — wuyanjun110 / detail
fix: plan from history in low speed — chenran / detail
fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换 — wuyanjun110 / detail

#1970 (Aug 4, 2026 11:33:02 AM)

feat_out:修改东方特钢上装控制枚举 — zhaojianfeng2 / detail
feat_out:合并外设消息 — zhaojianfeng2 / detail

#1970 (Aug 4, 2026 11:33:02 AM)

chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 — chenran / detail
fix: synchronize straighten hold with SSEP search — chenran / detail

#1969 (Aug 3, 2026 11:05:03 AM)

fix: ignore ttc in travel_out — chenran / detail
feat: add SC target accuracy recorder — chenran / detail

#1968 (Aug 2, 2026 8:03:35 PM)

feat_out:外设命令扩充(需重编外设及rmi) — zhaojianfeng2 / detail
feat_out:增加全量上传topic — zhaojianfeng2 / detail
feat_out:增加消息定义 — zhaojianfeng2 / detail
feat_out:修改东方特钢上装控制枚举 — zhaojianfeng2 / detail

#1968 (Aug 2, 2026 8:03:35 PM)

chore: SSEP: Duplicate turning-in-place points in straddle carrier scenario. — tangwenqing / detail
fix: SSEP: IMVMultiSegmentParking: Use given pass point heading as heuristic search target. — tangwenqing / detail

#1964 (Jul 31, 2026 11:00:04 AM)

feat_out:增加全量上传topic — zhaojianfeng2 / detail

#1964 (Jul 31, 2026 11:00:04 AM)

feat: add movestep safe check for pnc status — liuhongshuo / detail
feat: 发布目标步进距离 — liuhongshuo / detail
feat: 增加序列化 — liuhongshuo / detail
fix: add destination point in cloud trajectory topic — chenran / detail
chore: SSEP: Duplicate turning-in-place points in straddle carrier scenario. — chenran / detail

#1963 (Jul 30, 2026 8:06:39 PM)

fix: SSEP: 解决终点区域被加入close set导致无法搜到终点的问题 — tangwenqing / detail
feat: SSEP: IMV新增基于pass point倒车点的多段搜索 — tangwenqing / detail
feat: 添加车辆最大曲率计算函数，优化运动学处理 — wuyanjun110 / detail
fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用 — wuyanjun110 / detail
fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲 — wuyanjun110 / detail
feat: 云端轨迹下发各 lane 的剩余长度与总长度 — wuyanjun110 / detail
feat: HMI 显示 road boundary 的 shift type — wuyanjun110 / detail
fix:修复合并的bug — wuyanjun110 / detail
chore: KEB: 集卡lane follow优化轨迹末状态使用软约束、调整参数 — tangwenqing / detail
feat: 增加堆高机侧向吊具高度防护 — wuyanjun110 / detail
feat: 显示障碍物朝向与速度方向 — wuyanjun110 / detail
feat: 补充 SL 边界语义访问器 — wuyanjun110 / detail