Progress:

Build #1354 (Dec 16, 2025 11:17:39 AM)

1. feat:imv 变道的安全校验参数化 (details)
2. feat:添加绕行状态机 (details)
3. feat:添加变道状态机状态 (details)
4. Revert "feat:imv 变道的安全校验参数化" (details)
5. fix: disable wbca smooth mode for seaside buffer. (details)
6. fix: 修复董家口imv pull over角度偏差过大的问题 (details)
7. fix:修复终点前变道的bug (details)
8. feat:添加参数 直行的junction 是否用路口的边界 (details)
9. fix:road 级别的可行驶范围的bug (details)
10. feat:适配董分进堆场边界 (details)
11. fix: routing extending backward for bend. (details)
12. fix:可能崩溃的bug (details)
13. fix:修复封路变道的bug (details)
14. fix:引桥前变道的bug (details)
15. fix:变道的bug (details)
16. fix:修复合并的bug (details)
17. fix:修复合并的bug (details)
18. feat:调整出堆场口的约束创建 (details)
19. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
20. fix: wbca crash issue. (details)
21. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
22. fix: crash issue. (details)
23. feat:过滤107 类型的点云 (details)
24. 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 (details)
25. feat:远程步进超时的问题 (details)
26. feat:出堆场场景赋值错误的bug (details)
27. chore: SSEP: 前港进出堆场改进 (details)
28. feat:修复默认的步进速度 (details)
29. chore: SSEP: 改善集卡多段出停车位效果 (details)
30. chore: SSEP: 改善集卡多段出停车位效果 (details)
31. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
32. Refactor: SSEP: minor updates (details)
33. feat:整理安全防护 (details)
34. fix:修复距离超视距框过近，搜索失败的bug (details)
35. fix:调整ttc 预测轨迹 (details)
36. feat: 太阳纸业场景适配 (details)
37. feat:wcba求解路径过短的问题修复 (details)
38. fix:wcba路径过短的问题 (details)
39. fix: imv cost (details)
40. 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。 (details)
41. 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。 (details)
42. fix:参考线拼接的bug (details)
43. feat:wcba求解路径过短的问题修复 (details)
44. fix:wcba路径过短的问题 (details)
45. fix: using guide_line pt for smooth mode. (details)
46. 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 (details)
47. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 (details)
48. Refactor: SSEP: minor updates (details)
49. 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。 (details)
50. 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 (details)
51. fix: wbca smooth_mode path opt. (details)
52. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
53. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
54. feat: SSEP增加IMV进堆场场景 (details)
55. feat: 增加ssep-heatnet-2.0训练场景生成器 (details)
56. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 (details)
57. feat: SSEP增加IMV进堆场场景 (details)
58. chore: SSEP: 调试IMV路径 (details)
59. chore: SSEP: 调试IMV路径 (details)
60. chore: Add proto converters. (details)
61. refactor: 去除SSEP中不再用到的参数与相关处理。 (details)
62. fix:太阳纸业 出库， ssep路径匹配的bug (details)
63. fix: SSEP 修复proto版本不兼容的问题 (details)
64. fix: SSEP 修复proto版本不兼容的问题 (details)
65. fix:修复ttc预测的bug (details)
66. Revert "feat:暂时屏蔽container size 变量" (details)
67. chore: SSEP: 改进多段路径 - 短路径去除的逻辑 (details)
68. fix: reversing car bulk scenario. (details)
69. fix:修复程序运行的bug (details)
70. refactor: update cmakelist (details)
71. fix: reversing crash. (details)
72. feat: convert cloud_obstacles to cloud points. (details)
73. chore: 改进出堆场搜索，调整offboard部分代码 (details)
74. chore: 改进友谊关多段倒车路径形状 (details)
75. fix: SSEP: proto去除optional关键字 (details)
76. fix: motion_fsm to_normal bug. (details)
77. feat: SSEP: 完成ssep相关的proto定义。 (details)
78. fix: fix building issue (details)
79. fix: 修复imv优化器斜行代价太小的问题 (details)
80. fix: 修复imv优化器斜行代价太小的问题 (details)
81. Revert "fix: 修复imv优化器斜行代价太小的问题" (details)
82. fix:修复imv优化器斜行代价太小的问题 (details)
83. fix: first_frame smooth mode except in_yard (details)
84. refactor:优化进苏溪停车位的搜索 (details)
85. fix: clear route in smooth mode when large deviation. (details)

Started by upstream project orin-module-slave32 build number 2905
originally caused by:

• Started by user wuyanjun

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• refs/remotes/origin/master

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• origin/rc_dev_qiangang

• origin/feat_qiangang_refactor

• origin/rc_dev