Changes

#1350 (Dec 12, 2025 6:14:02 PM)

1. feat:imv 变道的安全校验参数化 — wuyanjun110 / detail
2. feat:添加绕行状态机 — wuyanjun110 / detail
3. feat:添加变道状态机状态 — wuyanjun110 / detail
4. Revert "feat:imv 变道的安全校验参数化" — wuyanjun110 / detail
5. fix: disable wbca smooth mode for seaside buffer. — 5081703.cr / detail
6. fix: 修复董家口imv pull over角度偏差过大的问题 — tangwenqing / detail
7. fix:修复终点前变道的bug — wuyanjun110 / detail
8. feat:添加参数 直行的junction 是否用路口的边界 — wuyanjun110 / detail
9. fix:road 级别的可行驶范围的bug — wuyanjun110 / detail
10. feat:适配董分进堆场边界 — wuyanjun110 / detail
11. fix: routing extending backward for bend. — wuyanjun110 / detail
12. fix:可能崩溃的bug — wuyanjun110 / detail
13. fix:修复封路变道的bug — wuyanjun110 / detail
14. fix:引桥前变道的bug — wuyanjun110 / detail
15. fix:变道的bug — wuyanjun110 / detail
16. fix:修复合并的bug — wuyanjun110 / detail
17. fix:修复合并的bug — wuyanjun110 / detail
18. feat:调整出堆场口的约束创建 — wuyanjun110 / detail
19. fix: SSEP: 修复IMV进充电桩方向错误的问题 — tangwenqing / detail
20. fix: wbca crash issue. — 5081703.cr / detail
21. fix:修复带有bulk 途经点， opensspce 不搜索的bug — wuyanjun110 / detail
22. fix: crash issue. — wuyanjun110 / detail
23. feat: 增加ssep-heatnet-2.0训练场景生成器 — tangwenqing / detail
24. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 — tangwenqing / detail
25. feat: SSEP增加IMV进堆场场景 — tangwenqing / detail
26. chore: SSEP: 调试IMV路径 — tangwenqing / detail
27. fix: SSEP 修复proto版本不兼容的问题 — tangwenqing / detail
28. fix: reversing car bulk scenario. — 5081703.cr / detail
29. fix:修复程序运行的bug — wuyanjun110 / detail
30. fix: reversing crash. — 5081703.cr / detail
31. feat: convert cloud_obstacles to cloud points. — 5081703.cr / detail
32. fix: motion_fsm to_normal bug. — 5081703.cr / detail
33. fix: ad sc_target_offset_ignoring_distance — 5081703.cr / detail

#1349 (Dec 12, 2025 11:54:38 AM)

1. refactor:调整末端的限速 — wuyanjun110 / detail
2. chore: 改进友谊关多段倒车路径形状 — tangwenqing / detail
3. feat:breakpad 崩溃 — wuyanjun110 / detail
4. feat:删除终点后的不可绕行 — wuyanjun110 / detail
5. feat:上引导不变道的bug — wuyanjun110 / detail
6. feat:draw ssep崩溃的防护 — wuyanjun110 / detail
7. feat:删除打印日志 — wuyanjun110 / detail
8. fix:replayer编译失败的bug — wuyanjun110 / detail
9. fix:breakpad编译失败的bug — wuyanjun110 / detail

#1348 (Dec 11, 2025 4:56:35 PM)

1. fix: is_using_cur_velocity_for_driving_mode_switch — 5081703.cr / detail

#1347 (Dec 11, 2025 1:41:12 PM)

1. fix: reversing crash. — 5081703.cr / detail

#1346 (Dec 11, 2025 11:38:10 AM)

1. feat_out:增加车辆状态字段 — zhaojianfeng2 / detail
2. feat_out:增加剩余续航里程 — zhaojianfeng2 / detail
3. feat:在pnc_debug中增加observer_debug — 5081703.cr / detail
4. feat:在pnc_debug中增加observer_debug — wuyanjun110 / detail
5. feat_out:添加tcu2vehicle消息 — zhaojianfeng2 / detail
6. fix:类型错误 — zhaojianfeng2 / detail
7. feat:ads command里面添加 步进间隔的字段 — wuyanjun110 / detail
8. feat:添加脱困模式的字段 — wuyanjun110 / detail
9. feat:添加脱困模式的字段 — wuyanjun110 / detail
10. feat:云控语音控制消息 — haoxiangtao / detail
11. feat:在pnc_debug中增加observer_debug — 5081703.cr / detail

#1344 (Dec 10, 2025 7:25:34 PM)

1. feat:imv 变道的安全校验参数化 — wuyanjun110 / detail
2. feat:添加绕行状态机 — wuyanjun110 / detail
3. feat:添加变道状态机状态 — wuyanjun110 / detail
4. Revert "feat:imv 变道的安全校验参数化" — wuyanjun110 / detail
5. fix: disable wbca smooth mode for seaside buffer. — 5081703.cr / detail
6. fix: 修复董家口imv pull over角度偏差过大的问题 — tangwenqing / detail
7. fix:修复终点前变道的bug — wuyanjun110 / detail
8. feat:添加参数 直行的junction 是否用路口的边界 — wuyanjun110 / detail
9. fix:road 级别的可行驶范围的bug — wuyanjun110 / detail
10. feat:适配董分进堆场边界 — wuyanjun110 / detail
11. fix: routing extending backward for bend. — wuyanjun110 / detail
12. fix:可能崩溃的bug — wuyanjun110 / detail
13. fix:修复封路变道的bug — wuyanjun110 / detail
14. fix:引桥前变道的bug — wuyanjun110 / detail
15. fix:变道的bug — wuyanjun110 / detail
16. fix:修复合并的bug — wuyanjun110 / detail
17. fix:修复合并的bug — wuyanjun110 / detail
18. feat:调整出堆场口的约束创建 — wuyanjun110 / detail
19. fix: SSEP: 修复IMV进充电桩方向错误的问题 — tangwenqing / detail
20. fix: wbca crash issue. — 5081703.cr / detail
21. fix:修复带有bulk 途经点， opensspce 不搜索的bug — wuyanjun110 / detail
22. fix: crash issue. — wuyanjun110 / detail
23. feat: 增加ssep-heatnet-2.0训练场景生成器 — tangwenqing / detail
24. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 — tangwenqing / detail
25. feat: SSEP增加IMV进堆场场景 — tangwenqing / detail
26. chore: SSEP: 调试IMV路径 — tangwenqing / detail
27. fix:太阳纸业 出库， ssep路径匹配的bug — wuyanjun110 / detail
28. fix:太阳纸业 出库， ssep路径匹配的bug — wuyanjun110 / detail
29. fix: SSEP 修复proto版本不兼容的问题 — tangwenqing / detail
30. fix:修复ttc预测的bug — wuyanjun110 / detail
31. fix:修复ttc预测的bug — wuyanjun110 / detail
32. Revert "feat:暂时屏蔽container size 变量" — wuyanjun110 / detail
33. fix: reversing car bulk scenario. — 5081703.cr / detail
34. fix:修复程序运行的bug — wuyanjun110 / detail
35. feat:搜索尺寸参数赋值 — wuyanjun110 / detail
36. fix:车辆参数赋值错误的bug — wuyanjun110 / detail

#1343 (Dec 10, 2025 6:32:01 PM)

1. feat:imv 变道的安全校验参数化 — wuyanjun110 / detail
2. feat:添加绕行状态机 — wuyanjun110 / detail
3. feat:添加变道状态机状态 — wuyanjun110 / detail
4. Revert "feat:imv 变道的安全校验参数化" — wuyanjun110 / detail
5. fix: disable wbca smooth mode for seaside buffer. — 5081703.cr / detail
6. fix: 修复董家口imv pull over角度偏差过大的问题 — tangwenqing / detail
7. fix:修复终点前变道的bug — wuyanjun110 / detail
8. feat:添加参数 直行的junction 是否用路口的边界 — wuyanjun110 / detail
9. fix:road 级别的可行驶范围的bug — wuyanjun110 / detail
10. feat:适配董分进堆场边界 — wuyanjun110 / detail
11. fix: routing extending backward for bend. — wuyanjun110 / detail
12. fix:可能崩溃的bug — wuyanjun110 / detail
13. fix:修复封路变道的bug — wuyanjun110 / detail
14. fix:引桥前变道的bug — wuyanjun110 / detail
15. fix:变道的bug — wuyanjun110 / detail
16. fix:修复合并的bug — wuyanjun110 / detail
17. fix:修复合并的bug — wuyanjun110 / detail
18. feat:调整出堆场口的约束创建 — wuyanjun110 / detail
19. fix: SSEP: 修复IMV进充电桩方向错误的问题 — tangwenqing / detail
20. fix: wbca crash issue. — 5081703.cr / detail
21. fix:修复带有bulk 途经点， opensspce 不搜索的bug — wuyanjun110 / detail
22. fix: crash issue. — wuyanjun110 / detail
23. fix:修复ttc预测的bug — wuyanjun110 / detail
24. Revert "feat:暂时屏蔽container size 变量" — wuyanjun110 / detail
25. fix: reversing car bulk scenario. — 5081703.cr / detail
26. fix:修复程序运行的bug — wuyanjun110 / detail

#1342 (Dec 10, 2025 5:38:20 PM)

1. feat:imv 变道的安全校验参数化 — wuyanjun110 / detail
2. feat:添加绕行状态机 — wuyanjun110 / detail
3. feat:添加变道状态机状态 — wuyanjun110 / detail
4. Revert "feat:imv 变道的安全校验参数化" — wuyanjun110 / detail
5. fix: disable wbca smooth mode for seaside buffer. — 5081703.cr / detail
6. fix: 修复董家口imv pull over角度偏差过大的问题 — tangwenqing / detail
7. fix:修复终点前变道的bug — wuyanjun110 / detail
8. feat:添加参数 直行的junction 是否用路口的边界 — wuyanjun110 / detail
9. fix:road 级别的可行驶范围的bug — wuyanjun110 / detail
10. feat:适配董分进堆场边界 — wuyanjun110 / detail
11. fix: routing extending backward for bend. — wuyanjun110 / detail
12. fix:可能崩溃的bug — wuyanjun110 / detail
13. fix:修复封路变道的bug — wuyanjun110 / detail
14. fix:引桥前变道的bug — wuyanjun110 / detail
15. fix:变道的bug — wuyanjun110 / detail
16. fix:修复合并的bug — wuyanjun110 / detail
17. fix:修复合并的bug — wuyanjun110 / detail
18. feat:调整出堆场口的约束创建 — wuyanjun110 / detail
19. fix: SSEP: 修复IMV进充电桩方向错误的问题 — tangwenqing / detail
20. fix: wbca crash issue. — 5081703.cr / detail
21. fix:修复带有bulk 途经点， opensspce 不搜索的bug — wuyanjun110 / detail
22. fix: crash issue. — wuyanjun110 / detail
23. fix: reversing car bulk scenario. — 5081703.cr / detail
24. fix:修复程序运行的bug — wuyanjun110 / detail

#1341 (Dec 10, 2025 4:27:34 PM)

1. feat:lonmpc — wuyanjun110 / detail
2. feat: mass estimation debug — wuyanjun110 / detail
3. fix:调整pnc_debug观测项 — wuyanjun110 / detail
4. feat:油门标定消息 — wuyanjun110 / detail
5. feat:增加观测 — wuyanjun110 / detail

#1341 (Dec 10, 2025 4:27:34 PM)

1. feat:imv 变道的安全校验参数化 — wuyanjun110 / detail
2. feat:添加绕行状态机 — wuyanjun110 / detail
3. feat:添加变道状态机状态 — wuyanjun110 / detail
4. Revert "feat:imv 变道的安全校验参数化" — wuyanjun110 / detail
5. fix: disable wbca smooth mode for seaside buffer. — 5081703.cr / detail
6. fix: 修复董家口imv pull over角度偏差过大的问题 — tangwenqing / detail
7. fix:修复终点前变道的bug — wuyanjun110 / detail
8. feat:添加参数 直行的junction 是否用路口的边界 — wuyanjun110 / detail
9. fix:road 级别的可行驶范围的bug — wuyanjun110 / detail
10. feat:适配董分进堆场边界 — wuyanjun110 / detail
11. fix: routing extending backward for bend. — wuyanjun110 / detail
12. fix:可能崩溃的bug — wuyanjun110 / detail
13. fix:修复封路变道的bug — wuyanjun110 / detail
14. fix:引桥前变道的bug — wuyanjun110 / detail
15. fix:变道的bug — wuyanjun110 / detail
16. fix:修复合并的bug — wuyanjun110 / detail
17. fix:修复合并的bug — wuyanjun110 / detail
18. feat:调整出堆场口的约束创建 — wuyanjun110 / detail
19. fix: SSEP: 修复IMV进充电桩方向错误的问题 — tangwenqing / detail
20. fix: wbca crash issue. — 5081703.cr / detail
21. fix:修复带有bulk 途经点， opensspce 不搜索的bug — wuyanjun110 / detail
22. fix: crash issue. — wuyanjun110 / detail
23. fix: imv cost — 5081703.cr / detail
24. feat:wcba求解路径过短的问题修复 — 5081703.cr / detail
25. fix:wcba路径过短的问题 — 5081703.cr / detail
26. fix: using guide_line pt for smooth mode. — 5081703.cr / detail
27. Refactor: SSEP: 整理代码目录结构，分离onboard代码与offboard代码 — tangwenqing / detail
28. Refactor: SSEP: minor updates — tangwenqing / detail
29. 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
30. 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
31. fix: wbca smooth_mode path opt. — 5081703.cr / detail
32. feat: 增加ssep-heatnet-2.0训练场景生成器 — tangwenqing / detail
33. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 — tangwenqing / detail
34. feat: SSEP增加IMV进堆场场景 — tangwenqing / detail
35. chore: SSEP: 调试IMV路径 — tangwenqing / detail
36. fix: SSEP 修复proto版本不兼容的问题 — tangwenqing / detail
37. fix: reversing car bulk scenario. — 5081703.cr / detail
38. fix:修复程序运行的bug — wuyanjun110 / detail

#1340 (Dec 10, 2025 3:29:03 PM)

1. fix: reversing sc_target offset heading. — 5081703.cr / detail

#1339 (Dec 10, 2025 2:22:07 PM)

1. feat: 增加ssep-heatnet-2.0训练场景生成器 — tangwenqing / detail
2. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 — tangwenqing / detail
3. feat: SSEP增加IMV进堆场场景 — tangwenqing / detail
4. chore: SSEP: 调试IMV路径 — tangwenqing / detail
5. fix:太阳纸业 出库， ssep路径匹配的bug — wuyanjun110 / detail
6. fix: SSEP 修复proto版本不兼容的问题 — tangwenqing / detail
7. fix:修复ttc预测的bug — wuyanjun110 / detail
8. Revert "feat:暂时屏蔽container size 变量" — wuyanjun110 / detail

#1338 (Dec 10, 2025 1:27:12 PM)

1. fix: mask start routing point. — 5081703.cr / detail
2. fix: add sc_operation_pseudo_cloud_points_buffer. — 5081703.cr / detail

#1337 (Dec 10, 2025 11:53:32 AM)

1. feat:wcba求解路径过短的问题修复 — 5081703.cr / detail
2. fix:wcba路径过短的问题 — 5081703.cr / detail
3. fix: using guide_line pt for smooth mode. — 5081703.cr / 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. fix: wbca smooth_mode path opt. — 5081703.cr / detail
9. feat: 增加ssep-heatnet-2.0训练场景生成器 — tangwenqing / detail
10. refactor: 将ssep的依赖改为sub_directory的形式，添加proto数据结构 — tangwenqing / detail
11. feat: SSEP增加IMV进堆场场景 — tangwenqing / detail
12. chore: SSEP: 调试IMV路径 — tangwenqing / detail
13. fix:太阳纸业 出库， ssep路径匹配的bug — wuyanjun110 / detail
14. fix: SSEP 修复proto版本不兼容的问题 — tangwenqing / detail