Build #319 (Nov 11, 2025 3:10:56 PM)

	Changes Update yiwu-suxi-submodule.jenkinsfile (details) Update yiwu-suxi-submodule.jenkinsfile (details) Update yiwu-suxi-submodule.jenkinsfile (details) Update daxie-submodule.jenkinsfile (details) Update yiwu-suxi-submodule.jenkinsfile (details) Update daxie-submodule.jenkinsfile (details) Update daxie-submodule.jenkinsfile (details) Update daxie-submodule.jenkinsfile (details) Changes feat_out:增加车辆状态字段 (details) feat_out:增加剩余续航里程 (details) feat:在pnc_debug中增加observer_debug (details) feat_out:添加tcu2vehicle消息 (details) fix:类型错误 (details) feat:ads command里面添加步进间隔的字段 (details) feat:添加脱困模式的字段 (details) feat:添加脱困模式的字段 (details) feat:云控语音控制消息 (details) feat:在pnc_debug中增加observer_debug (details) Changes feat_out: Add the function of initiating cooperation with lidar loc (details) feat_out: Add the function of initiating cooperation with lidar loc (details) feat_out: Add the function of initiating cooperation with lidar loc (details) feat_out: Reduce the fault level related to wheel speed from STOP_RECOVER to PULL_OVER (details) Changes refactor: 重构变量名 (details) feat: 比例参数计算 (details) feat: 增加倒车判断 (details) feat: 纠正车挂第一个点的航向角 (details) feat: 增加角度矫正和s正负判定 (details) refactor: 函数位置 (details) refactor: 删除不用的trailer轨迹推算方法 (details) refactor: 抽取函数 (details) refactor: 提取参考车辆参数 (details) refactor: 修改命名 (details) feat: 统一规整box heading和velocity heading (details) fix: relative_s符号使用 (details) feat_out: 优化集卡倒车时的车挂轨迹推算 (details) chore(version): 3.16.0 (details) Changes fix:修复快照内存泄漏的bug (details) fix: trailer path bug in replayer. (details) 从两边搜索 (details) 根据现场测试数据提升成功率。 (details) feat:1.添加远程步进忽略安全的功能2.翻斗角度大于一定阈值，停车的防护 (details) fix: no drive object check dis expend (details) Add OGM builder (details) Og Lines添加source cluster size表示置信度，回退时只回退置信度低的点云 (details) Publish og_line_segment topic. (details) fix: 修复了2段搜索的一些问题，修改了参数 (details) feat:暂时屏蔽container size 变量 (details) chore: 训练数据集生成工具完善轨迹生成模块 (details) chore: 重新定义og line segment message (details) fix:修复分段路径计算的bug (details) feat:cargo width (details) feat:添加变道状态机状态 (details) fix: trailer path bug in replayer. (details) fix: trailer_ego_path bug. (details) fix: destination direction bug. (details) feat:添加参数,从disable状态强制会stop auto (details) feat: 建立多步搜索框架，重构tractor-trailer的搜索代码，适配威海调头入库场景 (details) fix: steering stationary. (details) fix: 去除魔法数字 (details) refactor:优化ego match (details) fix:修复match的bug (details) feat:适配实时车辆宽度 (details) fix: 修复ssep参考线trailer角度跳变问题 (details) fix: reverse truck path task使用原始kappa (details) feat:临时关闭变道状态的上传 (details) feat:引导线适配集卡倒车 (details) fix:后向倒车问题修复 (details) fix:后向倒车问题修复 (details) fix: reversing truck path. (details) fix: 崩溃 (details) fix: using TractorPathFromTrailerPath (details) fix: imv smooth mode bug. (details) fix:修复bulk out识别的bug (details) feat:添加进堆场口通道的显示 (details) feat:调整边界封锁逆行车辆左边的通道 (details) feat:适配 imv 出停车位方向和一次规划方向不一致的场景 (details) feat:适配苏溪集卡倒车 (details) feat:更新西联停车位的约束 (details) fix: imv smooth mode bug. (details) feat:修复出堆场口提前进入动态搜索的bug (details) feat:反向进T场，搜索失败 (details) fix: steering check for truck. (details) fix: imv start_pt.heading in smooth mode. (details) fix:pjpo标志位赋值的bug (details) feat:出堆场口约束调整 (details) feat: u-turn-insertion场景，倒车重规划 (details) fix: crash issue. (details) fix: imv crab mode for large curvature path. (details) feat:open space 区域赋值 no straight (details) feat:opensapace 搜索晚的问题 (details) feat:适配友谊关 (details) Ssep add hdmap (details) fix: 倒车时搜索区域构建bug修复 (details) fix: uturn insertion 倒车二次规划使用更大的曲率 (details) feat: 前港掉头调试临时提交 (details) feat:友谊关测试添加日志 (details) feat:恢复代码 (details) fix:出堆场口和多段求解失败的bug (details) feat:吊距防护的bug (details) fix:修复可能的崩溃bug (details) fix: trailer_base2head_base in ssep. (details) fix:调整限速的问题 (details) fix:修复可能的崩溃bug (details) feat:西连停车位，添加约束 (details) Revert "fix:修复可能的崩溃bug" (details) fix: imv heading bug. (details) fix:修复快照崩溃的bug (details) fix:修复合并的bug (details) feat:弯道延后进入open space 参数化 (details) feat:弯道延后进入open space 参数化 (details) fix:长弯道内，速度跳变的问题 (details) feat: 完成ssep新框架的场景输入。修复搜索bug (details) fix: ssep ilqr path filter. (details) fix: 修复 along lane condition 中目标角度与车道角度可能不一致的问题 (details) fix:修复可能崩溃的bug (details) feat:关闭debug (details) fix: wbca boundary bug. (details) fix: lane.length checking bug. (details) feat:调整wcba 优化路径的长度 (details) fix: echo stop position. (details) feat: 掉头入库-1. 根据途经点位置自动计算角度。2. 方向切换时向前延长轨迹 (details) fix: plan from cur_pt when ssep search succeed. (details) feat: 增加conditional filter防止轨迹画圈 (details) fix: 修复轨迹有可能转圈的问题 (details) fix: crash issue. (details) fix: lon_decision, using prediction for v > 8km/h (details) fix: 修复掉头入库时，pass point不合理会导致崩溃的问题 (details) fix:修复不运行path time graph，lattice崩溃的bug (details) fix:修复guide line的模式的打印 (details) feat:添加忽略身后安全的标志位 (details) feat:添加忽略身后og点的功能 (details) feat:指令变道后，仍然可以进行靠近终点变道 (details) chore: 改进进出堆场搜索与掉头搜索 (details) fix:修复停车位方向切换的问题 (details) feat:进充电桩搜索失败的bug (details) fix:修复参考拼接的bug (details) fix:苏溪进出堆场搜索失败的bug (details) feat:删除打印日志 (details) fix: 修复前港终点在反向车道时会crash的问题 (details) feat:扩多个lane的region，只获取一段的bug (details) fix: 修复hd-map中yard access line为空时会崩溃的问题 (details) chore: 调整进出堆场与普通搜索方向切换权重 (details) fix: wbca route length optimization. (details) fix: ssep修复起点直接满足搜索终止条件时会crash的问题 (details) fix:修复引导线拼接的bug (details) fix:修复引导线拼接的bug (details) 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) feat:调整停车位开始变道的距离 (details) 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) fix:关路禁停的bug (details) fix:引桥途径点没有清除的bug (details) feat: 跑通ssep新框架-西联imv进充电桩的流程 (details) fix:修复bulk in 和 bulk out 点靠近时，场景识别的bug (details) 仿真中跑通进出充电桩 (details) fix:修复bulk倒车的问题 (details) fix:修复速度大于40km/h时.减速曲线的bug (details) fix:修复速度大于40km/h时.减速曲线的bug (details) fix: 修复了轨迹平滑时，边界约束为0时，轨迹位置仍会改变的bug (details) fix:修复在平滑状态下，限速的bug (details) fix:修复在平滑状态下，限速的bug (details) fix:修复ssep搜索时，聚类og点使用的bug (details) fix:修复堆场入口显示的bug (details) chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details) chore: 适配HD-Map改动-一个堆场对应多个堆场口 (details) fix: 修复方向切换时延长失效的问题，增大对tunnel constraint的前向响应距离 (details) fix:修复搜索失败的bug (details) refctor:优化对准逻辑 (details) fix:优化对准的逻辑 (details) feat:添加变道状态机状态 (details) feat:变道延迟时间参数化 (details) fix:修复忽略身后障碍物的bug (details) feat:远程步进，使用忽略安全的标志位代表是否是自动卸料 (details) fix: 修复堆场有多个出入口时适配错误的问题 (details) feat:修复参数名称和远程步进超时的时间 (details) fix:修复变道过程中，当前车道突变的bug (details) feat:进出堆场约束的调整 (details) fix:苏溪修复集卡进单车道堆高机场搜索失败的bug (details) merge latest ssep (details) fix: 解决imv出充电桩离障碍物过近的问题 (details) fix: 前港ssep搜索，车道匹配的终点需要在设定的终点之后 (details) fix: 解决imv出充电桩离障碍物过近的问题 (details) feat:调整倒车的约束 (details) fix:ssep场景错误的bug (details) fix:travel out 误退出的bug (details) feat: 新搜索框架添加gui 可视化功能 (details) feat: 新搜索框架添加gui 可视化功能 (details) fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details) fix: 修复ssep搜索轨迹tractor-trailer拖车角度错误的问题 (details) fix:ssep路径没有终点的停止线的bug (details) feat: ssep: tt 搜索中，使用guide line匹配终点 (details) feat: ssep: tt 搜索中，使用guide line匹配终点 (details) feat:添加comand widget的显示开关 (details) feat:添加comand widget的显示开关 (details) fix:修复对准标志位请求不复位的bug (details) feat:状态显示框通过参数可以控制 (details) fix:合并的bug (details) feat:调整缩小安全距离的参数 (details) feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details) chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details) fix: ssep加保护逻辑，不考虑距离过远的途经点 (details) fix: ssep修复途经点使用逻辑 (details) fix:误退出 dravel out场景的bug (details) fix:误进入倒车控制器的bug (details) fix:误进入倒车控制器的bug (details) 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) chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details) feat:优化倒车的限速 (details) chore: ssep-car-多段倒车入库提升成功率 (details) feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details) fix: Remove file (details) chore: ssep-car多段倒车提升二次搜索成功率 (details) fix:出斜料区，地图方向识别的bug (details) fix: 修复ssep路径终点离设定终点过远的问题 (details) feat: ssep-离线障碍物配置框架 (details) feat: 加入双向搜索，太阳纸业支持car倒车入库。 (details) chore: ssep多段倒车入库根据测试结果调整搜索逻辑 (details) fix: ssep加保护逻辑，不考虑距离过远的途经点 (details) 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) chore: ssep-car 多段倒车入库，提升倒车二次搜索成功率 (details) chore: ssep-car-多段倒车入库提升成功率 (details) feat: ssep-拖车进出堆场时，使用双向搜索作为fallback searcher。 (details) fix: Remove file (details) chore: ssep-car多段倒车提升二次搜索成功率 (details) fix: 修复ssep路径终点离设定终点过远的问题 (details) feat: 增加候选起点策略 (details) feat: 增加候选起点策略 (details) feat:倒车入库后，前向步进的问题 (details) feat:完善变道触发的条件 (details) fix: stationary steering logic. (details) fix:变道场景切换的bug (details) fix:路径方向切换时，终点距离计算的bug (details) fix:修复路径拼接的bug (details) feat:优化ssep的参数载入 (details) 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) feat:修改开始对准的阈值 (details) fix:修复bulk 状态下，不自动对准的bug (details) fix:修复更新目标车道使用历史数据的bug (details) feat:适配路边作业场景 (details) feat: SSEP: 1. IMV增加pullover场景处理终点偏移。2. 添加keb optimizer (details) fix: 修复掉头场景的终止条件判断不能正确匹配车道的问题 (details) fix:修复方向切换的bug (details) feat: SSEP: 进堆场场景使用双向搜索+keb_optimizer (details) fix: reversing debug. (details) feat:合并的bug (details) fix:修复og lines 使用的bug (details) fix:方向切换的bug (details) feat:添加强制前向搜索的标志位 (details) fix:修复地图包略当前段计算的bug (details) refactor:优化adjust 切换lock的条件 (details) fix:修复lock 不切换adjust的bug (details) chore: ssep: 将Map envelop 转为 constraint，容许轻微违反约束-不超过0.5m (details) refactor:优化关路禁停 (details) feat: 1. 前港 lock 和 adjust 来回切换的bug 2. 太阳接受新任务，状态机切换的bug (details) feat:储存的消息中添加车辆当前位置 (details) feat:park lock 下不重新搜索 (details) fix:适配lane 首位相连的场景 (details) fix:修复方向切换的问题 (details) feat:终点是否考虑边界添加参数 (details) fix: max_acc = 0.5 for wbca velocity reference. (details) 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) 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) chore: ssep: 新建开沃掉头场景调整参数 (details) feat:park adjust 切换park lock的bug (details) fix:优化安全区域的限速 (details) feat: SSEP: 倒车出停车位多段路径 (details) feat: SSEP: mult-seg path to exit parking space (details) feat: Tractor-trailer出停车位 (details) chore: remove 1 line (details) feat: ssep: 跑通苏溪多段路径出停车位 (details) chore: ssep: minor param updates (details) fix: hmi load map. (details) fix: ssep: 拆分car车型掉头和常规搜索的搜索参数 (details) chore: ssep: 在堆场内搜索终止条件不进行车道匹配 (details) feat:打开release (details) feat:添加多次步进的功能 (details) feat_out: path_opt in replayer. (details) fix: velocity profile exception. (details) fix: delete history in smooth mode. (details) chore: ssep: 跑通tensor rt推理ssep heat net模型全流程 (details) fix:修复终点前变道的bug (details) feat:添加参数直行的junction 是否用路口的边界 (details) refactor:删除打印日志 (details) fix:road 级别的可行驶范围的bug (details) feat:适配董分进堆场边界 (details) fix:修复封路变道的bug (details) fix:引桥前变道的bug (details) fix:可能崩溃的bug (details) fix: routing extending backward for bend. (details) fix:变道的bug (details) chore: SSEP: Update ssep sdk. (details) chore: 重构keb_optimizer，提取出tractor_trailer_keb_optimizer. 后续可以为其他车型添加优化器 (details) fix:适配open space 场景 (details) fix: using maximum vehicle size in WBCA (details) Feat: SSEP: 增加自卸车倒车卸货场景 (details) feat: 接入自卸车倒车卸货场景 (details) fix: abandon last segment in wbca. (details) fix: 修复ssep搜索区域尺寸错误 (details) fix:可能崩溃的bug (details) fix: wbca debug msg. (details) fix: end_velocity for wbca calc exception. (details) fix: velocity profile exception. (details) fix:人工对准误创建约束 (details) feat:open space的优化 (details) refactor:直线步进优化步进时间 (details) refactor:直线步进优化步进时间 (details) feat: SSEP: keb optimizer优化多段路径。car模型适配keb optimizer。 (details) feat: ssep_data中保存重规划原因 (details) fix: add wbca debug var. (details) fix: add lateral acc cost. (details) fix: add wbca cost and time_consuming. (details) fix: add wbca cost and time_consuming. (details) fix: add lateral acc cost. (details) fix: SSEP: 修复car+optimizer中代码的bug (details) feat:添加根据定位值的倒车防护，防治对准时，跟着桥走. (details) fix:修复代码合并的bug (details) fix: pub lane_pts debug msg. (details) feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details) feat:暂时可以调试 (details) feat: SSEP: 增加集卡多段倒车场景 (details) fix: wbca bd expanding. (details) feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details) feat: SSEP: 增加集卡多段倒车场景 (details) fix:修复连续普通路口搜索的bug (details) fix: SSEP: Resolve crashing issue. (details) fix: SSEP: Resolve crashing issue. (details) feat: add distance2bend (details) fix: WBCA lane change path (details) fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details) feat:适配状态机场景 (details) feat: WBCA serialization for debug. (details) fix: using history_pts for lattice velocity reference. (details) fix: use_func_use_wbca_speed_limit = true (details) fix: wbca bd expanding. (details) feat: SSEP: 增加引导线跟随模式搜索 (details) feat: ssep适配脱困模式 (details) feat:boost 编译错误 (details) fix: SSEP: 修复引导线跟随搜索的一些bug (details) fix: lateral acceleration parameters. (details) fix: ComputeLonGuideVelFromLatAcc (details) feat: clear align times when align2nd to align1st. (details) feat:脱离模式路径切换的适配 (details) chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details) fix: lon_decision for car. (details) feat:cut ego 添加参数 (details) feat:适配新的障碍物类型 (details) feat:脱困模式，适配重搜索逻辑以及地图版本校验 (details) fix: add min_turn_radius (details) fix: add lattice_velocity_reference_mode (details) feat:调整搜索终点位置 (details) feat:堆高机作业关路重叠时，合并 (details) feat:park lock下不校验地图 (details) fix: disable wbca debug mode. (details) feat:调整出堆场口的约束创建 (details) fix: max_lat_acc in wbca params (details) fix: ignore dynamic obstacle in risk evaluation. (details) fix:调整危险限速距离的bug (details) feat:调整状态机 (details) feat:远程步步进，停车时间参数化 (details) fix_out: lat_acc_baed ref vel cal error. add debug msg. (details) fix:修复因为距离阈值，带来场景识别错误的bug (details) fix: bug (details) fix: disable wbca_debug mode. (details) fix:修复终点距离计算的bug (details) chore(format):格式 (details) chore: 适配remote guide line变更 (details) fix:修复海润进弯道后第一个停车位停不正的bug (details) fix:修复因为距离阈值，带来场景识别错误的bug (details) fix:修复终点距离计算的bug (details) fix:修复海润进弯道后第一个停车位停不正的bug (details) fix: delete log. (details) fix:修复误触发open space的bug (details) fix:修复误触发open space的bug (details) fix: delete log (details) feat:执行remote后进入stop auto (details) feat:添加obj障碍物的跟车距离 (details) refactor:优化bulk场景的限速 (details) fix:修复park lock 切换 park out，不重搜索的bug (details) fix:修复极限变道时没有应用变道路径，然后状态机切换的bug (details) refactor:优化跟车距离 (details) fix:临时修复重搜索的bug (details) refactor:优化动态搜索限速 (details) feat: lon_decision from SQ (details) fix: add min_safe_ttc (details) fix: v_min_coef = 9.9 wbca (details) fix: disable dynamic and steering speed constraints (details) fix: disable dynamic and steering speed constraints (details) fix: add min_velocity_coefficient_for_velocity_cost. (details) Changes feat_out:临时变量问题修改 (details) Changes note_out: 修改lib名称 (details) note_out: 点云类型添加字段label (details) note_out: 不同雷达设置不同label (details) note_out: 载物改变时终止本次宽度虚拟 (details) note_out: 均值过滤，填补少量高度-1的散洞 (details)
	Started by user sunyufu
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