[Jenkins]Jenkins

Changes

Summary

  1. Update qinhuangdao-baoshishun-submodule.jenkinsfile (details)
  2. Update qingdao-xilian-submodule.jenkinsfile (details)
  3. Update beihai-taiyangzhiye-submodule.jenkinsfile (details)
Commit f0fa5ecd86f3d1095367547fba035e77299704d2 by weilikang
Update qinhuangdao-baoshishun-submodule.jenkinsfile
The file was modifiedparams/qinhuangdao-baoshishun-submodule.jenkinsfile
Commit aa4e892b4958ba4836185a33f102e8b9d223019e by weilikang
Update qingdao-xilian-submodule.jenkinsfile
The file was modifiedparams/qingdao-xilian-submodule.jenkinsfile
Commit ee04b5a9398e2e19feff7651c623ad471aa04da0 by weilikang
Update beihai-taiyangzhiye-submodule.jenkinsfile
The file was modifiedparams/beihai-taiyangzhiye-submodule.jenkinsfile

Summary

  1. feat: 新搜索框架添加gui 可视化功能 (details)
  2. fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details)
  3. feat: ssep: tt 搜索中，使用guide line匹配终点 (details)
  4. fix: using pnc upper speed limit for wbca. (details)
  5. fix: wbca start vel bug. (details)
  6. fix: using his when esdf=null. (details)
  7. fix: obstacle_decider bug. (details)
  8. fix:修复对准标志位请求不复位的bug (details)
  9. fix: obstacle_decider bug. (details)
  10. fix:修复对准标志位请求不复位的bug (details)
  11. feat:openspace场景调用老的ssep算法 (details)
  12. feat:openspace场景调用老的ssep算法 (details)
  13. feat:打开红绿灯路口停车功能 (details)
  14. feat:调整红绿灯停车的逻辑 (details)
  15. feat:wcba限速添加参数 (details)
  16. feat:imv 变道的安全校验参数化 (details)
  17. feat:优化红绿灯停车 (details)
  18. fix:调整红绿灯停车的刹车值 (details)
  19. fix:修复uturn路径误过滤的bug (details)
  20. feat:车车道出堆场不添加双黄线约束 (details)
  21. feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details)
  22. chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details)
  23. fix: ssep加保护逻辑，不考虑距离过远的途经点 (details)
  24. chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变 (details)
  25. chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details)
  26. chore: ssep-car-多段倒车入库提升成功率 (details)
  27. feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details)
  28. feat: merge latest ssep - 跑通双向搜索fallback进堆场 (details)
  29. fix: 修复ssep路径终点离设定终点过远的问题 (details)
  30. feat:吊距防护相关的优化 (details)
  31. fix: correct imv crab mode conditions. (details)
  32. feat:适配 感知105类型 (details)
  33. fix:重复进行四阶段的bug (details)
  34. feat:吊距临停阈值和2nd 切换 lock 阈值一致 (details)
  35. feat:3阶段过程中，假如吊具着箱，不进行4阶段对准 (details)
  36. chore: SSEP: Decrease tractor-trailer bi-direction search time limit. (details)
  37. feat:变道是否考虑身边的障碍物默认值修改成true (details)
  38. feat:修改ssep碰撞检测阈值 (details)
  39. fix:龙须点处理的bug (details)
  40. fix:出堆场搜索的真实障碍物添加的bug (details)
  41. chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置 (details)
  42. feat: 进堆场使用双向搜索+keb优化 (details)
  43. chore: keb-optimizer增加曲率约束校验 (details)
  44. fix: 修复起点终点过远时反向搜索失效的问题 (details)
  45. chore: SSEP: import tensorrt into ssep (details)
  46. fix:修复崩溃的bug (details)
  47. chore: ssep: 1.增加进堆场时终点选择逻辑 - 优先选择宽阔的区域作为终点，提前把挂车甩直。2. keb_optimizer加上最后一段直线的约束 (details)
  48. feat: ssep: 新增低贝位搜索模式 -- 在进入窄通道前把挂甩直。适配杨浦场景。 (details)
  49. fix: max_acc = 0.5 for wbca velocity reference. (details)
  50. fix: hmi load map. (details)
  51. feat_out: path_opt in replayer. (details)
  52. fix: velocity profile exception. (details)
  53. fix: delete history in smooth mode. (details)
  54. fix:修复封路变道的bug (details)
  55. fix:引桥前变道的bug (details)
  56. fix:可能崩溃的bug (details)
  57. fix:修复合并的bug (details)
  58. fix:修复合并的bug (details)
  59. fix: using maximum vehicle size in WBCA (details)
  60. fix:人工对准误创建约束 (details)
  61. fix: abandon  last segment in wbca. (details)
  62. fix: wbca debug msg. (details)
  63. fix: end_velocity for wbca calc exception. (details)
  64. fix: velocity profile exception. (details)
  65. fix: add wbca debug var. (details)
  66. fix: add wbca cost and time_consuming. (details)
  67. fix: add lateral acc cost. (details)
  68. fix: wbca bd expanding. (details)
  69. feat: add distance2bend (details)
  70. fix: WBCA lane change path (details)
  71. fix: using distance2bend to change lane. (details)
Commit 8326a4640abf8503484f904fdaadd2788d413c97 by tangwenqing
feat: 新搜索框架添加gui 可视化功能

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
Commit 265a3a0db34f2c5614355cc2eae078745104180f by tangwenqing
fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/data_structure/polyline.cc
The file was modifieddata/ssep/ssep_activation.cpp
The file was modifiedssep/ssep_planner.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/trailer_heading_motion_primitive_decorator.h
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 968494451d407a4793b5f2135a144dd3c2b7a75f by tangwenqing
feat: ssep: tt 搜索中，使用guide line匹配终点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was modifiedssep/coarse_search/data_structure/polyline.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.h
The file was modifiedssep/coarse_search/data_structure/polyline.cc
Commit eba6389af9f0e7acf3891b94acde638437960078 by 5081703.cr
fix: using pnc upper speed limit for wbca.

The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/config/cfg_lat_plan.cpp
Commit ac46b4f3bc6844c63fa5e27f3a3550db36ea4d49 by 5081703.cr
fix: wbca start vel bug.

The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit b98ae2a1a9f840c70d1d37a1d2a4dfc9682c90ef by 5081703.cr
fix: using his when esdf=null.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a187e76ce21139b7cc2de165df05c822b053d4dc by 5081703.cr
fix: obstacle_decider bug.

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 178b4f17112cdf0209ba6b5adef5853bbdebc214 by wuyanjun110
fix:修复对准标志位请求不复位的bug

The file was modifieddata/app/cmd/cmd_align.cpp
Commit 846c0c71b191ac09917ac707ed9804e24e11d8b9 by wuyanjun110
fix: obstacle_decider bug.

The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit 82b2556450ca2b21ddb81be5722df2f6f7c3cc7e by wuyanjun110
fix:修复对准标志位请求不复位的bug

The file was modifieddata/app/cmd/cmd_align.cpp
Commit e6187c8e09cf6e89f13072e32fa0e79350d0ea39 by wuyanjun110
feat:openspace场景调用老的ssep算法

The file was modifieddata/ssep/ssep_ec.cpp
Commit 42923f47a26b0fc741ed18d6f92b7d10cbab8385 by wuyanjun110
feat:openspace场景调用老的ssep算法

The file was modifieddata/ssep/ssep_ec.cpp
Commit 8aec2c3858c759bb9d1c411ebde05d0ed5213c68 by wuyanjun110
feat:打开红绿灯路口停车功能

The file was modifieddata/constrain/pnc_junction.cpp
Commit bfd7897845ca38b67691492d3217f946f7465662 by wuyanjun110
feat:调整红绿灯停车的逻辑

The file was modifieddata/config/cfg_env_const.hpp
The file was modifieddata/constrain/block_data.cpp
The file was modifieddata/config/cfg_env_const.cpp
The file was modifieddata/plan/guide_line_base.hpp
Commit 0f2c0ea0212547678989a52223119a37ebfb9673 by wuyanjun110
feat:wcba限速添加参数

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/lattice/trajectory_evaluator.cpp
Commit fd133a2ceaeaed828be1292074d049e59ae3bf5d by wuyanjun110
feat:imv 变道的安全校验参数化

The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/config/cfg_func_sw.hpp
Commit 749219bf13ce569e8153aa95290e7075da093313 by wuyanjun110
feat:优化红绿灯停车

The file was modifiedhmi/draw/draw_map.cpp
The file was modifieddata/constrain/block_data.cpp
Commit 816aa6ae80895b523be4fc8b8c9b068811de86fd by wuyanjun110
fix:调整红绿灯停车的刹车值

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit b2b70f9198dad03a15aaffa4a3b4242e5f4cd679 by wuyanjun110
fix:修复uturn路径误过滤的bug

The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit d572cf0b77b8589b0bf4d94fd9a704698955b173 by wuyanjun110
feat:车车道出堆场不添加双黄线约束

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit ca055c19aecb27807f17f08bb5e8b3c569cc7db5 by tangwenqing
feat: 加入双向搜索，太阳纸业支持car倒车入库。
The file was modifiedssep/coarse_search/geometric_searcher/indexed_priority_queue.h
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive.h
The file was modifieddata/ssep/forward_ec.cpp
The file was addedssep/coarse_search/geometric_searcher/motion_primitive_sampler/reverse_primitive_decorator.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.h
The file was modifiedssep/coarse_search/geometric_searcher/state_hasher.h
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bulk_yard_geometric_searcher.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_cost_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/ref_line_heuristic_computer.h
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was addedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was addedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was modifiedssep/ssep_planner.cc
The file was modifiedssep/coarse_search/geometric_searcher/motion_primitive_sampler/arc_path_motion_primitive_sampler.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
Commit f301a3cf03e19a4825cca76cc5c4557b7dfac3ac by tangwenqing
chore: ssep多段倒车入库根据测试结果调整搜索逻辑

The file was modifiedssep/coarse_search/geometric_searcher/evaluator/evaluator.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 951fdc1c0709f1ac53ff0afaf09801ba983c6472 by tangwenqing
fix: ssep加保护逻辑，不考虑距离过远的途经点

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 4b0158e309e8862795414acd20d1d7de75297bf4 by tangwenqing
chore: ssep-car多段倒车入库减小双向搜索时两段路径连接处跳变
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
The file was modifiedssep/ssep_planner.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
Commit 5c1f04b3205737b6acf86cbd11fdfede3e75b1f6 by tangwenqing
chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
Commit 24f34b53c7ba189f0865c30f9a1efe18496a70a2 by tangwenqing
chore: ssep-car-多段倒车入库提升成功率

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.h
Commit bb73e0dd27d05fe8433eb4f30d01dc82f8522dde by tangwenqing
feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。

The file was modifieddata/config/cfg_ssep.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/search_graph.h
The file was modifieddata/config/cfg_ssep.cpp
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/evaluator/trailer_shortest_path_heur_computer.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/coarse_search/geometric_searcher/search_engine_interface.cc
Commit 598f72e651ae32b71634c8a887a73f2cd8fad8ce by tangwenqing
feat: merge latest ssep - 跑通双向搜索fallback进堆场

The file was modifieddata/config/cfg_ssep.hpp
The file was modifieddata/ssep/forward_ec.cpp
The file was removedssep/coarse_search/geometric_searcher/search_engine_interface.cc
The file was modifieddata/config/cfg_ssep.cpp
The file was modifieddata/ssep/ssep_ec.cpp
Commit 86264b238528b6a4504d767ca416caa5eebe0a97 by tangwenqing
fix: 修复ssep路径终点离设定终点过远的问题

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit d7b81077fcc05698a8198155381bfca0e31ab3a4 by wuyanjun110
feat:吊距防护相关的优化

The file was modifieddata/app/cmd/cmd_remote_ctrl.cpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifiedhmi/widget/diagnose.cpp
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
The file was modifieddata/vehicle/spreader_protect.cpp
Commit ed148558f9af93bcad5e692511ef10bf126032ee by 5081703.cr
fix: correct imv crab mode conditions.

The file was modifiedtasks/plan/path_optimization_task.cpp
Commit a9be8f6d57c9ae6da6e23b516351bacb7fa3c482 by wuyanjun110
feat:适配 感知105类型

The file was modifiedhmi/draw/draw_perception.cpp
The file was modifieddata/boundary/driving_corridor.cpp
The file was modifiedplan/prepare/prepare_ogm.cpp
Commit aa07466414472066f2d2c33aac3eacb91257ac99 by wuyanjun110
fix:重复进行四阶段的bug

The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 140a14d9cfbd9ee13f2acb3b2480f6bfc3a0073f by wuyanjun110
feat:吊距临停阈值和2nd 切换 lock 阈值一致

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 68c8461c7bdede9cb467c7d30ba82c1947e0d95a by wuyanjun110
feat:3阶段过程中，假如吊具着箱，不进行4阶段对准

The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit bcc547ae15273cc37436c152f69359fa1f0310d1 by tangwenqing
chore: SSEP: Decrease tractor-trailer bi-direction search time limit.
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
Commit 222cea7941255fd6e10413089be63f21cfa04d13 by wuyanjun110
feat:变道是否考虑身边的障碍物默认值修改成true

The file was modifieddata/config/cfg_func_sw.cpp
Commit 44e45ebb95dcb780a76e4e751bb8347de5cc7201 by wuyanjun110
feat:修改ssep碰撞检测阈值

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
Commit c3bcb68d80ddd7c83be481820ad7d84ffa56dffa by wuyanjun110
fix:龙须点处理的bug

The file was modifiedplan/prepare/prepare_ogm.cpp
Commit 7c0bf187d15fc854adc5c4bab2809a2f9e9e055e by wuyanjun110
fix:出堆场搜索的真实障碍物添加的bug

The file was modifieddata/ssep/out_yard_junction_ec.cpp
Commit 11e52b4481efa2a6cd5d5370a4bd7cd1f1c46aca by tangwenqing
chore: SSEP: 自卸车普通搜索终点车道匹配只允许匹配给定终点以后的位置

The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
Commit 1da82c0f8995d7c5ff6d3a2b18228a12e025d51c by tangwenqing
feat: 进堆场使用双向搜索+keb优化

The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.cc
The file was modifiedssep/common/utils/map_element_utils.hpp
The file was modifiedssep/influence_map/sl_projection_map.cc
The file was addedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/rigid_truck_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_general_searcher_builder.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.h
The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was addedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedCMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was addedssep/keb_optimizer/data_structure.h
The file was addedssep/keb_optimizer/cost_features/trailer_disk_collision_cost.h
The file was addedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/ssep_planner.cc
The file was addedssep/keb_optimizer/cost_features/ref_line_cost.h
The file was addedssep/keb_optimizer/cost_features/state_constraint.h
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/rigid_truck_general_searcher_builder.h
The file was addedssep/keb_optimizer/cost_features/kinematic_constraint.h
The file was modifiedssep/influence_map/sl_projection_map.h
The file was modifiedssep/CMakeLists.txt
The file was addedssep/keb_optimizer/cost_features/dynamic_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/topology_analysis/candidate_goals_generator.cc
The file was addedssep/keb_optimizer/cost_features/pinch_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was addedssep/keb_optimizer/cost_features/path_length_cost.h
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cc
The file was addedssep/keb_optimizer/cost_features/disk_collision_cost.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/imv_general_searcher_builder.cc
The file was modifiedssep/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc
The file was modifiedssep/coarse_search/geometric_searcher/multi_stage_hybrid_astar_search_engine.h
The file was addedssep/keb_optimizer/cost_features/jet_access.h
Commit 4bdb765f48bb4e7e9dc76b69f803d072b9ea7123 by tangwenqing
chore: keb-optimizer增加曲率约束校验

The file was modifiedssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.h
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 62bc6832fbe022bdc96141855d2730ad3dd3b763 by tangwenqing
fix: 修复起点终点过远时反向搜索失效的问题

The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/cost_features/ref_line_cost.h
Commit 4fef6eecc55fffb041b170539bfc280b652b3abd by tangwenqing
chore: SSEP: import tensorrt into ssep
The file was modifiedssep/CMakeLists.txt
The file was modifiedssep/conf/ssep_preprocess.yaml
The file was modified.gitignore
The file was modifiedssep/main_test/main_ssep_input.cc
Commit 443db1d333dcd07a1948a35e41a9d09403e9f453 by wuyanjun110
fix:修复崩溃的bug

The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 37494cf9ceaa19fcb1de4c5ef307cd1fe29f1114 by tangwenqing
chore: ssep: 1.增加进堆场时终点选择逻辑 - 优先选择宽阔的区域作为终点，提前把挂车甩直。2. keb_optimizer加上最后一段直线的约束

The file was addedssep/keb_optimizer/cost_features/heading_constraint.h
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifiedssep/keb_optimizer/keb_problem.cc
Commit 17edfc25da7b888891d65be542555d86e544b2d4 by tangwenqing
feat: ssep: 新增低贝位搜索模式 -- 在进入窄通道前把挂甩直。适配杨浦场景。

The file was modifiedssep/coarse_search/hybrid_a_star.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.cc
The file was modifieddata/ssep/ssep_ec.cpp
The file was modifiedssep/keb_optimizer/keb_problem.cc
The file was modifiedssep/common/def/ssep_scenario_type.hpp
The file was modifiedssep/coarse_search/geometric_searcher/searcher_builders/tractor_trailer_bidirectional_searcher_builder.h
The file was modifiedssep/keb_optimizer/keb_problem.h
The file was modifiedssep/coarse_search/geometric_searcher/bidirectional_hybrid_astar_search_engine.cc
The file was modifiedssep/ssep_planner.cc
Commit 53d9a2d8cf925f083909dd85d1283369947f0da0 by 5081703.cr
 fix: max_acc = 0.5 for wbca velocity reference.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit 0652ba3fd0d300c5fb654b91d600204d0f9b7965 by 5081703.cr
fix: hmi load map.

The file was modifiedreplayer/logic.cpp
The file was modifiedreplayer/replayer_data_process/load_snap_data.cpp
Commit f2caa4e92486ae2aace98348c71dc719135c57c6 by 5081703.cr
feat_out: path_opt in replayer.

The file was modifiedreplayer/replayer_data_process/replayer_data_process.hpp
The file was modifiedreplayer/replayer_data_process/replayer_data_process.cpp
Commit 71bb7033676887623afb24fdf144682c2d2c5c04 by 5081703.cr
fix: velocity profile exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit adc4f96834723bdbdc725c6ccd8fc25c13e3cf83 by 5081703.cr
fix: delete history in smooth mode.

The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
Commit 1c0c0a643c7fe06365f5b68d0853658c92f6737a by wuyanjun110
fix:修复封路变道的bug

The file was modifieddata/map/reference/center_line.cpp
Commit 9733db6296966bca07437fb19d466f21e726479c by wuyanjun110
fix:引桥前变道的bug

The file was modifieddata/plan/switch_data.cpp
Commit 78758691721563c6788d48c9ddd295cd9d54c6cd by wuyanjun110
fix:可能崩溃的bug
The file was modifieddata/plan/switch_data.cpp
Commit 03885065165bc2d82696de044177b070eb6c2c12 by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit 505c1b4bb5f81d459859a75090d122b02ed51f6b by wuyanjun110
fix:修复合并的bug

The file was modifieddata/plan/switch_data.cpp
Commit b71349f8c40f412fd26fa7afe1dfe224909ce298 by 5081703.cr
fix: using maximum vehicle size in WBCA

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedalgorithm/wbca/truck_wbca_manager.cpp
Commit c7d55549d1fa29cc760a8efdb29a40e01d6d9147 by wuyanjun110
fix:人工对准误创建约束

The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit 989f398e8adb5e6717f375d999ae8796c7291e1f by 5081703.cr
fix: abandon  last segment in wbca.

The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit fb99858d9895067e53c9e2dd819ca1900a4977fa by 5081703.cr
fix: wbca debug msg.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit 7eb65d8fad4428ff65a4ebb59279aace6786fefe by 5081703.cr
fix: end_velocity for wbca calc exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit efe843eebc0988353431642b93a7e3baf0bacd75 by 5081703.cr
fix: velocity profile exception.

The file was modifiedalgorithm/wbca/linear_velocity_generator.cpp
Commit a6f28bf0226b3f41baf0866845c7af0849a43fac by 5081703.cr
fix: add wbca debug var.

The file was modifiedsink/ros_sink_plan_debug.cpp
Commit cddefcea61b2b710fcf223bcc9c374fa54c13a86 by 5081703.cr
fix: add wbca cost and time_consuming.
The file was modifiedalgorithm/wbca/imv_wbca_manager.cpp
The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifieddata/wbca/wbca_data.hpp
Commit 52d4eff1db1a0f22867f43d3caa133ac53e05a07 by 5081703.cr
fix: add lateral acc cost.

The file was modifiedalgorithm/wbca/path_optimization/truck_path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/path_optimization.cpp
The file was modifiedalgorithm/wbca/path_optimization/car_path_optimization.cpp
Commit 618e0555acef1cca349d4cff26def2bb181a5641 by 5081703.cr
fix: wbca bd expanding.

The file was modifiedalgorithm/wbca/occupancy_grid_map/data_render.cpp
Commit 879f2479d3162a731cec224e58983a29429382e7 by 5081703.cr
 feat: add distance2bend

The file was modifieddata/map/pnc_map/routing_extension/routing_data.hpp
The file was modifieddata/map/pnc_map/routing_extension/routing_data.cpp
Commit 288b5e286ba306512ba9beed30149afa30a3d47f by 5081703.cr
fix: WBCA lane change path

The file was modifiedalgorithm/wbca/wbca_manager.cpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.cpp
The file was modifieddata/config/cfg_lat_plan.hpp
The file was modifiedalgorithm/wbca/wbca_manager.hpp
The file was modifieddata/plan/switch_data.cpp
The file was modifieddata/plan/switch_helper.cpp
The file was modifieddata/plan/guide_line_info.cpp
The file was modifieddata/plan/switch_data.hpp
The file was modifiedtasks/deciders/lat_decider/wbca_path_boundary_decider.hpp
The file was modifiedtasks/plan/path_optimization_task.cpp
The file was modifieddata/config/cfg_lat_decide.cpp
The file was modifieddata/config/cfg_lat_decide.hpp
Commit 62a9839040475b102bd4bfe12446a76c18505599 by 5081703.cr
fix: using distance2bend to change lane.

The file was modifieddata/plan/switch_data.cpp