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Changes

Summary

  1. chore: 1.基于车道的终点匹配范围增加到距离参考点20米。2. imv增加斜行cost (details)
  2. fix: smooth mode for truck and car. (details)
  3. feat:调整停车位开始变道的距离 (details)
  4. feat:变道安全和变道临停， 因障碍物晃，导致冲突的问题， 添加buffer (details)
  5. fix:关路禁停的bug (details)
  6. feat: 跑通ssep新框架-西联imv进充电桩的流程 (details)
  7. fix:修复bulk in 和 bulk out 点靠近时，场景识别的bug (details)
  8. fix:修复bulk倒车的问题 (details)
  9. fix:修复速度大于40km/h时.减速曲线的bug (details)
Commit 3b94b21ae41785cf7b5a86019f2bc455a7ac75e7 by tangwenqing
chore: 1.基于车道的终点匹配范围增加到距离参考点20米。2. imv增加斜行cost

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/curvature_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/evaluator/diagonal_cost_computer.h
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/diagnal_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
Commit 44fe1e327ea0ae421d5dec17cac2ca59bef522ec by 5081703.cr
fix: smooth mode for truck and car.

The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
Commit cb7b17e67491b2146266a03df44fe2b2039ee995 by wuyanjun110
feat:调整停车位开始变道的距离

The file was modifieddata/config/cfg_env_const.cpp
Commit 44ea99a5e24fc5cca735ec48c0df6340e7cbb783 by wuyanjun110
feat:变道安全和变道临停， 因障碍物晃，导致冲突的问题， 添加buffer

The file was modifieddata/plan/switch_data.cpp
Commit 37c93bb9f6d086dffe2dedde3e468b7ec0c3cf02 by wuyanjun110
fix:关路禁停的bug

The file was modifieddata/constrain/block_data.cpp
Commit 23d55e9c1ce908b8a32f010cbca76eca7fa1ba73 by tangwenqing
feat: 跑通ssep新框架-西联imv进充电桩的流程

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/cost_feature_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/collision_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/back_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/u_turn_insertion_maneuver_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/dubins_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/bulk_yard_in_out_path_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/general_hybrid_astar_searcher_builder.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/main_test/main_ssep_input.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifieddata/ssep/forward_ec.cpp
The file was modifiedssep/ssep_planner.cc
Commit 23bc113aa8b37bd7f81d90f4dd51a7c553bd64d6 by wuyanjun110
fix:修复bulk in 和 bulk out 点靠近时，场景识别的bug

The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/vehicle/vehicle_destination.cpp
The file was modifieddata/plan/guide_line.cpp
Commit 4183e5a6897c65290bbdd8f33c5faf885538d730 by wuyanjun110
fix:修复bulk倒车的问题

The file was modifieddata/config/cfg_long_plan.cpp
Commit 7dfe3d3d12f5c61db2025c7e1f0f211c772bff99 by wuyanjun110
fix:修复速度大于40km/h时.减速曲线的bug

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/config/cfg_long_plan.hpp
The file was modifieddata/constrain/long_target.cpp
The file was modifieddata/plan/start_point_data.cpp