fix:优化动态下码头面搜索终点选取的问题 — wuyanjun110 / detail
refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug — wuyanjun110 / detail
fix: del mode=0 — chenran / detail
fix: 调整最大速度阈值以优化后向Ogm忽略逻辑 — wuyanjun110 / detail
feat: 添加核心对象库并优化可执行文件链接逻辑 — wuyanjun110 / detail
feat: add smooth_mode_wbca_params — chenran / detail
fix: smooth_mode_wbca_params bug — chenran / detail
fix: lock historical cloud point in replayer. — chenran / detail
fix: add FORWARD_BEFORE_BACKWARD — chenran / detail
fix: ssep replan for reversing truck. — chenran / detail
fix: refine deviation_stop params. — chenran / detail
fix: path disapearing issue. — chenran / detail
fix: trailer_path_ego match issue. — chenran / detail
refact: straighten then reverse. — chenran / detail
fix: using map lane width for single line lane detection — chenran / detail
feat: stop for localization switching. — chenran / detail
fix: log msf localization switching status. — chenran / detail
fix: road segment splitting bug. — chenran / detail
refact: GetRoadSegmentFirstSplitPos — chenran / detail
fix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 — wuyanjun110 / detail
fix: 解决西联IMV进停车位搜索过慢的问题 — wuyanjun110 / detail
feat: 普通卡车多段倒车入库时适配拉直点逻辑 — tangwenqing / detail
fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 — wuyanjun110 / detail
fix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 — wuyanjun110 / detail
feat: add position check for reversing — chenran / detail
fix: disable revsersing deviation. — chenran / detail
feat: limit straithen times. — chenran / detail
feat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 — chenran / detail
fix: reversing times bug — chenran / detail
fix: checkout feat_keb_task — chenran / detail
fix: reversing ssep planner bug — chenran / detail
fix: reversitong activation position thr 10.0 — chenran / detail
feat: add lbfgs prevous version. — chenran / detail
fix: curvature over limit filer. — chenran / detail
feat:合并ssep — wuyanjun110 / detail
fix: checkout ssep from feat_keb_task — chenran / detail
feat: checkout relate_offset from feat_straddle_v2 — chenran / detail
feat: add DeviationStatus — chenran / detail
feat: add update_end_position for ssep replan. — chenran / detail
feat: deviation for align — chenran / detail
fix: ssep replan for bulk align. — chenran / detail
fix: reverse bulk offset heading — chenran / detail
feat: limit reversing align times — chenran / detail
fix: log align info; serialize bulk_align_offset — chenran / detail
fix: log stop_deviation_for_algn — chenran / detail
fix: SSEP: 提升太阳纸业自卸车出堆场成功率 — wuyanjun110 / detail
fix: pnc_map splitting error. — chenran / detail
fix: SSEP: 提升太阳纸业自卸车出堆场成功率 — tangwenqing / detail
chore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 — tangwenqing / detail
fix: SSEP: 修复多段倒车路径异常问题 — tangwenqing / detail
feat: set up max_forward_distance — chenran / detail
fix: SSEP: 修复自卸车进卸料区路径有点斜的问题 — chenran / detail
fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 — chenran / detail
fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 — chenran / detail
fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 — chenran / detail
fix: straight lane near crane and lock_station — chenran / detail
feat: ssep replan for localization exception. — chenran / detail
feat: waiting for lift traile; using heading error for reversing align — chenran / detail
fix: checkout feat_keb_v2 ssep — chenran / detail
fix: add max_forward_distance_for_straighten_trailer — chenran / detail
fix: deviation_status bug — chenran / detail
fix: ignore path optimizor in park_in state. — chenran / detail
chore: SSEP: 集卡多段倒车接挂适配超窄库位 — chenran / detail
refactor:优化界面耗时 — wuyanjun110 / detail
fix: using straighten replan logic for path_direction_change replan type — chenran / detail
fix: SSEP: 解决威海多段倒车距离og墙太近的问题 — chenran / detail
fix: checkout feat_keb_v2 — chenran / detail
feat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 — wuyanjun110 / detail
fix: 修复威海车型不匹配的问题 — chenran / detail
chore: SSEP: 减小集卡多段倒车的最大曲率 — chenran / detail
fix:修复快照播放崩溃的bug — wuyanjun110 / detail
fix: check out feat_keb_v2 ssep — chenran / detail
fix: add ssep_forward_ec_tail_straight_distance — chenran / detail
fix: ssep replan bug — chenran / detail
fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 — chenran / detail
chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 — chenran / detail
feat: SSEP: 调整集卡多段倒车拉直逻辑 — chenran / detail
fix: build error — chenran / detail
feat: 添加<cstddef>头文件以支持大小类型 — wuyanjun110 / detail
桥区重规划: 上桥切下桥触发重规划并重置搜索状态 — wuyanjun110 / detail
refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks — wuyanjun110 / detail
桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 — wuyanjun110 / detail
fix: multi-frames trigger — chenran / detail
fix: truck reversing path kappa calculation — chenran / detail
fix: extending distance from current ego position. — chenran / detail
feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 — chenran / detail
fix: revering in straight line — chenran / detail
fix: is_in_straight_lane = false during park state — chenran / detail
fix: disable replan during path direction changing for straightening — chenran / detail
feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 — chenran / detail
chore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 — chenran / detail
chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 — chenran / detail
fix: synchronize straighten hold with SSEP search — chenran / detail
fix: stabilize STEP_ALIGN trajectory — chenran / detail
chore: 注释掉WHBULK的终点约束 — wuyanjun110 / detail
feat: 稳定障碍停车约束释放 — wuyanjun110 / detail
test: 补充障碍停车约束自动化场景 — wuyanjun110 / detail
feat: 展示障碍停车约束诊断 — wuyanjun110 / detail
fix: 修复 SSEP 离线回放构建 — wuyanjun110 / detail
feat: SSEP: Add coarse search tutorial. — tangwenqing / detail
fix: 修正拖挂车指令重规划拉直判定 — wuyanjun110 / detail
fix: 取消威海散货引桥终点约束 — wuyanjun110 / detail
chore: SSEP: 更新集卡启发项表生成器 — tangwenqing / detail
feat: 超视距线支持按高度分层 — wuyanjun110 / detail
fix: 补充 SC 目标点类型显示 — wuyanjun110 / detail
fix: 设置初始位姿时保留定位高度 — wuyanjun110 / detail
fix: 修正拖挂停车途经点判定 — wuyanjun110 / detail
doc: SSEP: Add keb tutorial — tangwenqing / detail
fix: 修正拖挂车指令重规划拉直判定 — wuyanjun110 / detail
fix: 取消威海散货引桥终点约束 — wuyanjun110 / detail
feat: 超视距线支持按高度分层 — wuyanjun110 / detail
fix: 修复 BulkOut 重规划状态误退出 — wuyanjun110 / detail
fix: 修正横向规划器类型识别 — wuyanjun110 / detail
fix: 统一 BulkOut 的 SSEP 前向阶段 — wuyanjun110 / detail
feat: 增加 KEB 规划可视化与诊断 — wuyanjun110 / detail
feat: keb正确返回theta值 — liuhongshuo / detail
fix: 修复绕行边界与会车响应 — wuyanjun110 / detail
fix: 补充快照加载失败诊断 — wuyanjun110 / detail
docs: 补充算法场景回放建设方案 — wuyanjun110 / detail
fix: 恢复散货前向阶段 WBCA 规划 — wuyanjun110 / detail
fix: 修复绕行超车目标升级 — wuyanjun110 / detail
feat: 接入条件禁行区域碰撞检测 — wuyanjun110 / detail
feat: keb正确返回theta值 — wuyanjun110 / detail
fix: 调整 KEB 道钉点碰撞处理 — wuyanjun110 / detail
fix: 恢复静态聚类凸包绕行占用 — wuyanjun110 / detail
fix: 收紧叉头叉尾纵向扩展 — wuyanjun110 / detail
fix: 修复 PNC 地图道路段转换异常 — wuyanjun110 / detail
fix: 保持变道路径跨阶段连续 — wuyanjun110 / detail
fix: 提高变道 PJPO 求解稳定性 — wuyanjun110 / detail
fix: 缩小变道障碍物纵向扩展范围 — wuyanjun110 / detail
feat: IMV KEB 起步曲率问题修复与日志跨天切换 — liuhongshuo / detail
feat: 增加普通路口停车功能开关 — wuyanjun110 / detail
feat: 支持大半径弯道主动超车 — wuyanjun110 / detail
feat: 完善SSEP图景重规划回放 — wuyanjun110 / detail
feat: 增强SSEP图景可视化 — wuyanjun110 / detail
feat: 增强振石IMV多段搜索能力 — wuyanjun110 / detail
fix: 修复SSEP碰撞忽略区边界误判 — wuyanjun110 / detail
feat: 支持出堆场分段选择横向规划器 — wuyanjun110 / detail
test: 建立SSEP本地自动化回归集 — wuyanjun110 / detail
fix: 修复 NO-SHIFT 末端走廊边界污染 — wuyanjun110 / detail
feat: 支持闸口精确限速与动态跟车 — wuyanjun110 / detail
fix: 过滤闸口杆体绕行点云 — wuyanjun110 / detail
feat: 绘制引导线区域缩写 — wuyanjun110 / detail
feat: 增加魏桥区域规划支持 — wuyanjun110 / detail
fix: 修复换向停车后 SSEP 切段失败 — wuyanjun110 / detail
fix: 修复倒车 OpenSpace 边界配置失效 — wuyanjun110 / detail
feat: 增加中铁联集区域规划支持 — wuyanjun110 / detail
fix: 修复 KEB 调试界面误绘挂车 — wuyanjun110 / detail
feat: 完善 SSEP 失败场景诊断 — wuyanjun110 / detail
fix: 修复 IMV 斜行 KEB 运动学失配 — wuyanjun110 / detail
fix: 限制连续开放空间重规划触发范围 — wuyanjun110 / detail
fix: 提前闸口控制介入距离 — wuyanjun110 / detail
feat: 支持配置堆高机靠近时的锁定时机 — wuyanjun110 / detail
fix: 增强参考道路段空数据防护 — wuyanjun110 / detail
feat: 支持 SSEP 历史路径热启动重规划 — wuyanjun110 / detail
fix: 统一重规划上下文与路径连续性 — wuyanjun110 / detail
feat: 完善重规划诊断与回放标记 — wuyanjun110 / detail
fix: 防止空导引线限速触发规划崩溃 — wuyanjun110 / detail
fix: 缓冲区近终点跳过地图连续性检查 — wuyanjun110 / detail
feat: 增加聚类障碍物变道安全防护 — wuyanjun110 / detail
fix: 优化普通路口变道衔接 — wuyanjun110 / detail
fix: 搜索临停轨迹就绪后恢复行驶 — wuyanjun110 / detail
fix: 隔离不同车型的变道锚点维护 — wuyanjun110 / detail
fix: 统一路口搜索终点参考线 — wuyanjun110 / detail
feat: add trailer parking safety handling — chenran / detail
feat: 支持 KEB roadside 分层规划 — wuyanjun110 / detail
feat: 完善 KEB roadside 分类可视化 — wuyanjun110 / detail
test: 增加 KEB 本地自动回归集 — wuyanjun110 / detail
docs: 完善 KEB 工具与回归说明 — wuyanjun110 / detail
feat: add neighboring trailer parking safety — chenran / detail
fix: measure trailer clearance from tail edge — chenran / detail
chore: remove trailer parking debug logs — chenran / detail
fix: clear real obstacles near SSEP endpoints — chenran / detail
fix: select guide_line pt as wbca smooth mode start_pt — 5081703.cr / detail
fix: 提升拖挂车进场 KEB 路径质量 — wuyanjun110 / detail
fix: 完善低贝位重搜触发与热启动策略 — wuyanjun110 / detail
fix: 保持开放空间 routing 判段连续 — wuyanjun110 / detail
fix: 兼容新版 Python Protobuf 运行库 — wuyanjun110 / detail
fix: 补全 Foxglove 可视化参考系 — wuyanjun110 / detail
fix: 修复换向重规划分段索引崩溃 — wuyanjun110 / detail
feat: 删除遗留的ads submodule — zhuxiaolong / detail
fix: 避免闸口短距被聚类障碍覆盖 — wuyanjun110 / detail
fix: 防止重规划期间历史参考线逐帧缩短 — wuyanjun110 / detail
fix: 修正开放空间终点距离与退出边界 — wuyanjun110 / detail
fix: 允许行驶中在弯道内触发入场搜索 — wuyanjun110 / detail
fix: 放宽 BulkOut 两点判定的横向容差 — wuyanjun110 / detail
fix: 统一双向 IMV 搜索包络的换向航向补偿 — wuyanjun110 / detail
fix: 通过通用参数保持 BulkOut 搜索的车头身份 — wuyanjun110 / detail
fix: 清理无搜索阶段的错误重规划上下文 — wuyanjun110 / detail
fix: 还原反向作业的 IMV 搜索物理车头朝向 — wuyanjun110 / detail
test: 增加 BulkOut 物理车头与路径质量回归 — wuyanjun110 / detail
fix: 为振石 BulkOut 搜索保留完整后方点云 — wuyanjun110 / detail
feat: 统一振石 IMV 场景的搜索参数配置 — wuyanjun110 / detail
test: 严格区分 SSEP 原样回归与参数实验 — wuyanjun110 / detail
fix: preserve full WBCA history across planning modes — chenran / detail
fix: 重搜期间复用成功路径并实时更新参考线 — wuyanjun110 / detail
fix: 自适应调整 KEB 固定尾段优化范围 — wuyanjun110 / detail
test: 归档出堆场内圈出口碰撞待修复案例 — wuyanjun110 / detail
fix: 统一分段路径衔接判定并修复双向 IMV 漏换向 — wuyanjun110 / detail
fix: 修复重合端点的 openspace 建区退化 — wuyanjun110 / detail
feat: 新增津西区域识别并接入搜索配置 — wuyanjun110 / detail
refactor: 移除振石出场硬编码参数及旧开关兼容 — wuyanjun110 / detail
fix: 统一搜索场景参数生命周期并保护配置优先级 — wuyanjun110 / detail
refactor: 统一 KEB 路径优化的请求与结果处理 — wuyanjun110 / detail
feat: 支持直行堆场路口 KEB 并保持切换路径连续 — wuyanjun110 / detail

#1007 (Sep 9, 2026 5:41:14 PM)

feat: add trailer bias simulator. — 5081703.cr / detail

#1007 (Sep 9, 2026 5:41:14 PM)

refactor:emergency stop的时候，控制切换到 N档 — wuyanjun110 / detail
fix: disable trailer_state when disable reversing truck controller. — 5081703.cr / detail
feat:平行驾驶的起始点的速度从历史轨迹上获取 — wuyanjun110 / detail
fix:调整期望速度的滤波 — wuyanjun110 / detail
refactor:平行驾驶的时候使用大的油门刹车表 — wuyanjun110 / detail
fix: chassis.steering_angle. — 5081703.cr / detail
fix: steering stationary. — 5081703.cr / detail
fix: steering_mode = auto for move_prepare. — 5081703.cr / detail
fix: steer_speed = 1.0 for stationary. — 5081703.cr / detail
feat:打开爬坡标志位 — wuyanjun110 / detail
feat:调整远程步进最小规划速度 — wuyanjun110 / detail
fix: del acc_mpc_.reset — 5081703.cr / detail
feat:调整倒车的油门刹车表 — wuyanjun110 / detail
feat:调整倒车的前馈补偿。 — wuyanjun110 / detail
feat:调整安全模块的接口，需和安全模块一块更新 — wuyanjun110 / detail
fix:编译的buy — wuyanjun110 / detail
fix: mpc status bug. — 5081703.cr / detail
feat:对准时，刹车的问题 — wuyanjun110 / detail
feat:使用阈值门限 — wuyanjun110 / detail
feat:调整对准阈值的处理 — wuyanjun110 / detail
fix: using plan_data to activate stationary steering. — 5081703.cr / detail
fix: stationary steering bug. — 5081703.cr / detail
feat:新增零偏角度辨识及补偿功能 — liuhongshuo / detail
fix:更改零偏角度yaml文件的读取方式 — liuhongshuo / detail
fix: crash issue — 5081703.cr / detail
fix: crash issue — 5081703.cr / detail
fix: 屏蔽变道时的零偏补偿 — liuhongshuo / detail
feat:适配多次步进 — wuyanjun110 / detail
fix:参考速度为0时质量估计失败的问题 — liuhongshuo / detail
fix:ResetHFSMState()中不将task_id_置为0 — liuhongshuo / detail
fix:刹车和起步问题修复 — liuhongshuo / detail
fix:最小刹车问题修复 — liuhongshuo / detail
fix: clamp steering angle. — 5081703.cr / detail
fix:取消任务时切到N档 — liuhongshuo / detail
fix:对准停不住车问题修复 — liuhongshuo / detail
fix: imv车型也控制进入creep的距离 — liuhongshuo / detail
feat: 新质量估计仅观测 && 停车距离预估用于刹车 — liuhongshuo / detail
feat: update cfg_static from pnc_status. — wuyanjun110 / detail
fix: 停车距离预估功能优化 — liuhongshuo / detail
fix：质量估计优化 — liuhongshuo / detail
fix:平行驾驶优化 — liuhongshuo / detail
feat: the creep brake consider weight — liuhongshuo / detail
fix: 对准优化 — liuhongshuo / detail
fix: 停车预估配置参数bug — liuhongshuo / detail
feat: parking distance estimator add first stage gain — liuhongshuo / detail
fix: truck creep 中积分项修复 — liuhongshuo / detail
fix: 默认关闭新功能 — liuhongshuo / detail
feat: creep增加动力学前馈但默认关闭 && creep日志记录优化 — liuhongshuo / detail
feat: creep中的position模式变更策略 — liuhongshuo / detail
feat: 对准末端速度参数化 — liuhongshuo / detail
fix: 使用底盘速度的消息源更改 — liuhongshuo / detail
fix: cmake using clang. — 5081703.cr / detail
feat: 增加TCS功能 — liuhongshuo / detail
feat：高精轮速对准和大转向时跟踪优化 — liuhongshuo / detail
feat: 解决低速跟踪差的问题 — liuhongshuo / detail
optimize PID integral and TCS — liuhongshuo / detail
feat: 对准日志存储位置更改 — liuhongshuo / detail
feat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 — liuhongshuo / detail
feat: 更改日志记录 — liuhongshuo / detail
feat: 增加全流程的纵向动力学log记录 — liuhongshuo / detail
feat: 积分策略改变，倾向于保持减速 — liuhongshuo / detail
fix: 积分项回收逻辑调整回上一版，更改参数 — liuhongshuo / detail
fix: 修改防滑log记录 — liuhongshuo / detail
feat: 高精轮速使用的防护 — liuhongshuo / detail
feat: 增加急加速急减损步进功能 — liuhongshuo / detail
fix：解决HopperDump停不到位的问题 — liuhongshuo / detail
feat: 急加急减程度开放接口 — liuhongshuo / detail
feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构 — liuhongshuo / detail
feat: 增加机械效率参数 — liuhongshuo / detail
fix: vehicle type in command — chenran / detail
fix: trailer angle observer crash issue — chenran / detail
fix: version — chenran / detail
fix: using map lane with for single line lane detection — chenran / detail
fix: 增加日志记录 — liuhongshuo / detail
feat: 速度使用参数化 — liuhongshuo / detail
chore: ignore worktrees directory — liuhongshuo / detail
feat: 增加制动上升斜率 — liuhongshuo / detail
feat : cmakelist bug — liuhongshuo / detail
feat: 增加lmpc算法 — liuhongshuo / detail
fix: bug — liuhongshuo / detail
feat: 增加日志 — liuhongshuo / detail
feat: 优化mpc速度误差补偿 — liuhongshuo / detail
feat: 增加对准退出日志 — liuhongshuo / detail
feat: 急停时增加斜率 — liuhongshuo / detail
feat: 更改对准默认参数 — liuhongshuo / detail
feat: 油门踏板开度发送和质量估计转化适配三一车 — liuhongshuo / detail
feat: 增加日志 && lmpc bug — liuhongshuo / detail
feat: amt gear 和 mpc回退机制优化 — liuhongshuo / detail
feat: 增加autoholde日志 — liuhongshuo / detail
feat: pid 刹车测略同步原版本 — liuhongshuo / detail
fix: 默认参数更改 — liuhongshuo / detail
feat: 增加质量估计log — liuhongshuo / detail
feat: 参数梳理 — liuhongshuo / detail
feat: 油门后处理优化 && 纵向模型辨识脚本 — liuhongshuo / detail
fix: imv creep 中else分支未return的bug — liuhongshuo / detail
feat: 更改油门滤波器 — liuhongshuo / detail
fix: path_direction_lock时对准状态下停车 — liuhongshuo / detail
refactor: truck对准控制器重构 — liuhongshuo / detail
feat: 增加对准时刹超认为完成的功能开关 — liuhongshuo / detail
feat: 优化imv纵向控制架构 — liuhongshuo / detail
feat: SC车型适配 — liuhongshuo / detail
feat: sc和imv重构review完成 — liuhongshuo / detail
feat: 同步非线形mpc — liuhongshuo / detail
refactor: 对准相关内容重构 — liuhongshuo / detail
feat: 纵向动力学日志记录改为二进制方法 — liuhongshuo / detail
feat: 控制器状态清空 — liuhongshuo / detail
feat: 考虑弯道阻力系数 — liuhongshuo / detail
feat: 弯道阻力处理优化反向作业对准适配 — liuhongshuo / detail
feat: truck的平行驾驶使用mpc纵向控制 — liuhongshuo / detail
feat: log — liuhongshuo / detail
fix: 日志log改回csv — liuhongshuo / detail
fix: wrls质量初始化 — liuhongshuo / detail
feat: log记录跨天问题辅助起步问题非线性通用性问题 — liuhongshuo / detail
fix: log日志使用修改 — liuhongshuo / detail
feat: SC自转适配 && SC对准控制器优化 — liuhongshuo / detail
feat: 重载对准停车设定单独参数 — liuhongshuo / detail
feat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0 — liuhongshuo / detail
feat: 起步辅助 — liuhongshuo / detail
feat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步 — liuhongshuo / detail
fix: 重载刹车非线性接口应为踏板开度 — liuhongshuo / detail
fix: 坡度限幅放在滤波器的输入端 — liuhongshuo / detail
feat：重载单独设定刹车gain — liuhongshuo / detail
feat: 重载时增大纵向mpo减速度变化量 — liuhongshuo / detail
feat: 对准刹超时增大刹车 — liuhongshuo / detail
fix：速度误差计算方式修改 — liuhongshuo / detail
fix: kappa direciton for SC — liuhongshuo / detail
feat: SC车型对准和步进优化 — liuhongshuo / detail
feat: 增加原始pitch角度观测 — liuhongshuo / detail
feat: SC车型适配倒车 — liuhongshuo / detail
feat: sc 和 imv的move step修正 — liuhongshuo / detail
feat: 增加速度IMV观测 — liuhongshuo / detail
feat: 对齐速度IMV纵向控制 — liuhongshuo / detail
feat: 低速停车距离优化 — liuhongshuo / detail
feat: 控制日志记录重构纵向mpc增加热启动关闭polish — liuhongshuo / detail
feat: 放宽阈值 — liuhongshuo / detail
fix: 日志记录地址更改 persistent_solver更改 — liuhongshuo / detail
feat: 对准日志记录分割 — liuhongshuo / detail
feat: 更改日志 — liuhongshuo / detail
feat: 小速度停车距离预估调整 — liuhongshuo / detail
fix: 停车距离预估除0风险 — liuhongshuo / detail
feat: 调整安全逻辑 — liuhongshuo / detail
feat: 求解超时软约束 — liuhongshuo / detail
feat: 增加底层默认空载或重载的制动链路 — liuhongshuo / detail
feat：参数读取兼容旧版本 — liuhongshuo / detail
feat: 平行/摇控错误详细日志 — liuhongshuo / detail
fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复 — liuhongshuo / detail
feat: 纵向mpc适配仿真 — liuhongshuo / detail
feat: 任何停车后都reset纵向控制器 — liuhongshuo / detail
feat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99 — liuhongshuo / detail
fix: 静止状态处理 — liuhongshuo / detail
fix: 重置mpc控制器处理优化 — liuhongshuo / detail
fix：不在emergency stop过程中重置 — liuhongshuo / detail
feat：平行驾驶无油门制动参数化 — liuhongshuo / detail
feat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 — liuhongshuo / detail
feat: 平行驾驶补偿 — liuhongshuo / detail
feat: imv零偏补偿尝试 — liuhongshuo / detail
feat: 底层反馈转向角适配零偏 — liuhongshuo / detail
feat: IMV零偏双模态学习 — liuhongshuo / detail
Revert "feat: imv零偏补偿尝试" — liuhongshuo / detail
feat: 溜车防护取消任务时制动防护 — liuhongshuo / detail
fix：只在给油门的时候检测溜车 — liuhongshuo / detail
feat: 起步辅助时的质量不低于初始质量 — liuhongshuo / detail
feat: 增加横向控制日志 — liuhongshuo / detail
feat: 增加IMV运动学校验观测 — liuhongshuo / detail
feat: 挡位保护 — liuhongshuo / detail
feat: 实际运动轴距辨识扩展到truck — liuhongshuo / detail
feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 — liuhongshuo / detail
feat: 过滤小制动 — liuhongshuo / detail
fix: 初始参数配置为0 — liuhongshuo / detail
feat: 停车距离预估的motion less靠控制自己判断 — liuhongshuo / detail
feat: 起步防滑与坡道起步优化 — liuhongshuo / detail
fix:根据质量进行制动补偿功能比例定义错误修正 — liuhongshuo / detail
feat: 增加park adjust下对准停车功能 — liuhongshuo / detail
fix : sc 远程步进修复 — liuhongshuo / detail
feat: 控制日志打印版本信息 — liuhongshuo / detail
feat: park adjust停车允许5cm越冲 — liuhongshuo / detail
feat: 支持双向步进振箱 — liuhongshuo / detail
feat: 防滑错误码上传 — liuhongshuo / detail
fix: 防滑报警默认关闭 — liuhongshuo / detail
feat: 转弯积分补偿 — liuhongshuo / detail
fix: 起步防滑不报错问题修复 — liuhongshuo / detail
feat: 急停的正确清空 — liuhongshuo / detail
feat: 只保留ee的机械急停 — liuhongshuo / detail
feat: 振箱策略更改 — liuhongshuo / detail
fix: add trailer_angle_compensation — chenran / detail
feat: 步进模式下传给mpc的参考速度序列修正 — liuhongshuo / detail
fix: trailer angle compensation — chenran / detail
feat: steering latency compensation for reversing truck controller — 5081703.cr / detail
fix: steering delay identification — chenran / detail
fix: record debug data — chenran / detail
fix: steering latency compensation optimizaiton — chenran / detail
feat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性 — liuhongshuo / detail
feat: 将减速度标定质量独立 — liuhongshuo / detail
fix: trailer angle bug — chenran / detail
feat: SC车型新增横向平移和自转功能 — liuhongshuo / detail
fix: 起步阶段不再强制变更使用质量 — liuhongshuo / detail
fix: add trailer_angle_replay_ekf — chenran / detail
feat: 底盘为空时认为静止 — liuhongshuo / detail
fix: SC模式切换保护 — liuhongshuo / detail
feat: SC横移模式指令值更改 — liuhongshuo / detail
fix: add speed governor — chenran / detail
fix: update config — chenran / detail
fix: auto recording script — chenran / detail
fix: ignore bag files — chenran / detail
fix: wire steer into mpc_solver — chenran / detail
feat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启 — liuhongshuo / detail
fix: add trailer angle comp calibrator — chenran / detail
fix: update debug message — chenran / detail
fix: update config — chenran / detail
fix: calib bug — chenran / detail
fix: update params — 5081703.cr / detail
fix: add startup_blank_s — chenran / detail
fix: trailer_angle_comp opt — chenran / detail
feat: 转向补偿超限报警单边停车质量补偿 — liuhongshuo / detail
feat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型 — liuhongshuo / detail
feat: SC车型运动方向固定增加每个轮子角度的观测 — liuhongshuo / detail
fix: 提前停车功能反向前进处理 — liuhongshuo / detail
fix: emergency_brake的正确记录 — liuhongshuo / detail
feat: 优化转向灯逻辑 — liuhongshuo / detail
feat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强 — liuhongshuo / detail
feat: SC步进横移bug — liuhongshuo / detail
feat: estop函数积分保护失效的bug — liuhongshuo / detail
feat: 急停使用的FollowCtrlDcc函数积分优化 — liuhongshuo / detail
feat: truck 横向变步长mpc — liuhongshuo / detail
feat: IMV零偏补偿航向学习错误 — liuhongshuo / detail
feat: IMV零偏补偿航向学习错误 — liuhongshuo / detail
fix: reject inconsistent rotation direction — chenran / detail
fix(control): guard MPC during rotation command dropout — chenran / detail
fix(control): guard MPC during rotation command dropout — 5081703.cr / detail
feat: 转向积分补偿释放参数配置化 — liuhongshuo / detail
feat: 变时域横向控制器优化调整 — liuhongshuo / detail
feat：纵向控制器记录消耗时间 — liuhongshuo / detail
feat:IMV 横向控制增加考虑延迟的控制器 — liuhongshuo / detail
feat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分 — liuhongshuo / detail
feat: 加速度计算不考虑定位标志位 — liuhongshuo / detail
feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车 — liuhongshuo / detail
feat: SafePreprocess 优化 — liuhongshuo / detail
feat: 对准和刹车时的减速度积分防护 — liuhongshuo / detail
fix: 转向补偿默认关闭 — liuhongshuo / detail
feat: add forward trailer bias estimator v2 — chenran / detail
refactor(control): simplify trailer bias validation — chenran / detail
feat: 堆高机和步进提前停车 — liuhongshuo / detail
feat(control): filter pre-stop trailer bias samples — chenran / detail

#1007 (Sep 9, 2026 5:41:14 PM)

fix_out: 修复起点计算cost的时候算取的是全部车道线 — caoxue / detail
feat_out: 增加特殊区域 — caoxue / detail

#1006 (Sep 7, 2026 10:40:47 AM)

Update orinBuild.groovy — weilikang / detail
Update vehicleInfo.groovy — weilikang / detail

#1006 (Sep 7, 2026 10:40:47 AM)

Add new file — weilikang / detail
Add new file — weilikang / detail
Update module-ros2-pncreplayer.jenkinsfile — weilikang / detail
Update module-ros2.jenkinsfile — weilikang / detail
Update module-ros2.jenkinsfile — weilikang / detail
Update telediagnostic.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update ganxian-ziyan-submodule.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update telediagnostic.jenkinsfile — weilikang / detail
Update telediagnostic.jenkinsfile — weilikang / detail

#1006 (Sep 7, 2026 10:40:47 AM)

feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 — zhaojianfeng2 / detail
feat_out:增加全量上传topic — zhaojianfeng2 / detail

#1006 (Sep 7, 2026 10:40:47 AM)

:new: tbb — liuyang / detail

#1005 (Sep 2, 2026 2:09:11 PM)

Update module-confname.jenkinsfile — weilikang / detail

#1003 (Sep 2, 2026 11:24:39 AM)

Update vehicleInfo.groovy — weilikang / detail

#1003 (Sep 2, 2026 11:24:39 AM)

Add new file — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail

#1003 (Sep 2, 2026 11:24:39 AM)

feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 — zhaojianfeng2 / detail
Merge peripheral shared_msgs updates into rc_dev_weiqiao — zhaojianfeng2 / detail

#1002 (Aug 30, 2026 6:59:25 PM)

Update repoinfoRos2.groovy — weilikang / detail
Update orinRos2Choice.groovy — weilikang / detail
Update orinRos2ModuleChoice.groovy — weilikang / detail
Update vehicleInfo.groovy — weilikang / detail
Update orinModule64Choice.groovy — weilikang / detail
Update orinModule32Choice.groovy — weilikang / detail
Update orin32Choice.groovy — weilikang / detail
Update orin64Choice.groovy — weilikang / detail
Update orinBuild.groovy — weilikang / detail

#1002 (Aug 30, 2026 6:59:25 PM)

Update jili-xiasha-submodule.jenkinsfile — weilikang / detail
Update hangzhou-xiasha-submodule.jenkinsfile — weilikang / detail
Update hangzhou-xiasha-submodule.jenkinsfile — weilikang / detail
Update hangzhou-xiasha-submodule.jenkinsfile — weilikang / detail

#1002 (Aug 30, 2026 6:59:25 PM)

feat_out:增加反馈pd类型 — zhaojianfeng2 / detail
feat_out:反馈字段完善 — zhaojianfeng2 / detail
feat_out:字段修改 — zhaojianfeng2 / detail
feat_out:增加6档反馈 — zhaojianfeng2 / detail
tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 — wuyanjun110 / detail
tos_msgs: AccessLine 字段 yard_id 重命名为 yard — wuyanjun110 / detail

#1001 (Aug 24, 2026 10:34:22 AM)

fix: 修复IMV速度模式底盘无响应 — wuyanjun110 / detail
fix: 修正最大转向角参数读取 — wuyanjun110 / detail
perf: 优化HMI帧刷新与方向盘渲染 — wuyanjun110 / detail
fix: 关闭挂车姿态默认延迟 — wuyanjun110 / detail

#1000 (Aug 21, 2026 1:03:21 PM)

Update orinBuildRos2.grovvy — weilikang / detail
Delete buildTest.groovy — weilikang / detail
Add new file — weilikang / detail
Update repoinfoRos2.groovy — weilikang / detail
Update repoinfoRos2.groovy — weilikang / detail
Update orinBuildRos2.groovy — weilikang / detail
Add new file — weilikang / detail
Add new file — weilikang / detail
Update orinRos2Choice.groovy — weilikang / detail
Update orinRos2ModuleChoice.groovy — weilikang / detail
Update orinRos2ModuleChoice.groovy — weilikang / detail
Update orinRos2Choice.groovy — weilikang / detail
Update orinRos2Choice.groovy — weilikang / detail
Update orinRos2ModuleChoice.groovy — weilikang / detail
Update orinRos2ModuleChoice.groovy — weilikang / detail
Update orinBuildRos2.groovy — weilikang / detail
Update vehicleInfo.groovy — weilikang / detail
Update repoinfoRos2.groovy — weilikang / detail
Update orinRos2Choice.groovy — weilikang / detail
Update orinRos2ModuleChoice.groovy — weilikang / detail

#1000 (Aug 21, 2026 1:03:21 PM)

Add new file — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update wuhan-zhongtielianji-submodule.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Update orin-build-ros2.jenkinsfile — weilikang / detail
Add new file — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail

#1000 (Aug 21, 2026 1:03:21 PM)

feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 — zhaojianfeng2 / detail
feat_out:字段修改 — zhaojianfeng2 / detail
feat_out:增加6档反馈 — zhaojianfeng2 / detail
tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 — wuyanjun110 / detail
tos_msgs: AccessLine 字段 yard_id 重命名为 yard — wuyanjun110 / detail
feat_out:删除.marscode — zhaojianfeng2 / detail

#1000 (Aug 21, 2026 1:03:21 PM)

feat_out: "增加GetConditionNoDrivingRegions接口" — caoxue / detail
feat_out: 增加Region_Gate类型 — caoxue / detail

#999 (Aug 17, 2026 5:11:38 PM)

Add new file — weilikang / detail

#999 (Aug 17, 2026 5:11:38 PM)

fix: 修复 IMV 制动后速度残留 — wuyanjun110 / detail

#998 (Aug 17, 2026 3:38:25 PM)

feat_out:崩溃防护 — zhaojianfeng2 / detail

#997 (Aug 17, 2026 3:02:21 PM)

fix: 修复 IMV 速度模式制动反馈 — wuyanjun110 / detail

#995 (Aug 17, 2026 12:10:23 PM)

Update module-confname.jenkinsfile — weilikang / detail

#993 (Aug 16, 2026 9:47:09 PM)

Update vehicleInfo.groovy — weilikang / detail

#993 (Aug 16, 2026 9:47:09 PM)

Add new file — weilikang / detail

#991 (Aug 14, 2026 5:13:35 PM)

Publish og line segments — wuyanjun110 / detail
chore: 重新定义Og line segment msg — wuyanjun110 / detail
feat_out:增加起步时间 — zhaojianfeng2 / detail
feat:lonmpc — wuyanjun110 / detail
feat: mass estimation debug — wuyanjun110 / detail
fix:调整pnc_debug观测项 — wuyanjun110 / detail
feat:油门标定消息 — wuyanjun110 / detail
feat:增加观测 — wuyanjun110 / detail
fix:pnc_debug/observer_debug更改 — liuhongshuo / detail
fix: 统一pnc_debug_msg/ObserverDebug.msg — liuhongshuo / detail
fix: 统一pnc_debug_msg/ObesrverDebug.msg — liuhongshuo / detail
feat_out:增加剩余续航里程字段 — zhaojianfeng2 / detail
feat_out:字段精度调整 — zhaojianfeng2 / detail
feat_out:修改外设cmd消息 — zhaojianfeng2 / detail
feat_out:增加外设状态反馈字段 — zhaojianfeng2 / detail
feat_out:外设命令cmd枚举调整 — zhaojianfeng2 / detail
feat_out:添加云端规划消息 — zhaojianfeng2 / detail
feat_out:添加云端规划消息 — zhaojianfeng2 / detail
feat_out:add cloud_planning_response — zhaojianfeng2 / detail
feat_out:增加续航里程字段 — zhaojianfeng2 / detail
chore(msg):添加是否越过当前边界的标志位 — wuyanjun110 / detail
chore(msg): 添加距离阈值内不避让排队车辆的标志位 — wuyanjun110 / detail
feat: 手动rebase交通管制v2 msg变更 — zhuxiaolong / detail
feat_out:增加沈汽环卫上装控制 — zhaojianfeng2 / detail
feat_out:补充外设字段 — zhaojianfeng2 / detail
feat: 手动rebase交通管制v2 msg变更 — zhuxiaolong / detail
feat_out:处理合并冲突 — zhaojianfeng2 / detail
添加新消息——跨运车z向抱夹到位 — liuwenjing / detail
添加新消息——跨运车z向抱夹到位 — liuwenjing / detail
feat: 手动rebase交通管制v2 msg变更 — zhuxiaolong / detail
feat: 手动rebase交通管制v2 msg变更 — wuyanjun110 / detail
feat: 手动rebase交通管制v2 msg变更 — wuyanjun110 / detail
feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 — zhaojianfeng2 / detail

#989 (Aug 13, 2026 8:55:49 PM)

feat: 添加ParallelObstacle和ParallelObstacleReport消息定义 — zhaojianfeng2 / detail
feat_out:外设命令扩充(需重编外设及rmi) — zhaojianfeng2 / detail
feat_out:增加全量上传topic — zhaojianfeng2 / detail
feat_out:增加消息定义 — zhaojianfeng2 / detail
tos_msgs: PncConfiguration 新增堆场入口范围 access_lines 字段，添加 AccessLine 消息定义 — wuyanjun110 / detail
tos_msgs: AccessLine 字段 yard_id 重命名为 yard — wuyanjun110 / detail
feat_out:增加全量上传topic — zhaojianfeng2 / detail
feat_out:修改东方特钢上装控制枚举 — zhaojianfeng2 / detail
feat_out:修改东方特钢上装控制枚举 — zhaojianfeng2 / detail
feat_out:合并外设消息 — zhaojianfeng2 / detail
feat_out:增加反馈pd类型 — zhaojianfeng2 / detail
feat_out:反馈字段完善 — zhaojianfeng2 / detail
feat_out:增加反馈pd类型 — zhaojianfeng2 / detail
feat_out:反馈字段完善 — zhaojianfeng2 / detail

#989 (Aug 13, 2026 8:55:49 PM)

fix: z = 3 — chenran / detail
feat： IMV 转向机构考虑延迟，默认使用国唐参数 — liuhongshuo / detail
feat：IMV外轴距参数更改 — liuhongshuo / detail

#989 (Aug 13, 2026 8:55:49 PM)

feat_out: 增加tc — caoxue / detail

#988 (Aug 12, 2026 10:10:43 PM)

Update push.groovy — weilikang / detail
Update orinBuild.groovy — weilikang / detail
Update orin32Choice.groovy — weilikang / detail
Update orin64Choice.groovy — weilikang / detail
Update orinModule32Choice.groovy — weilikang / detail
Update orinModule64Choice.groovy — weilikang / detail

#988 (Aug 12, 2026 10:10:43 PM)

Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail
Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail
Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update jining-liangshan-submodule.jenkinsfile — weilikang / detail
Update mizar.jenkinsfile — weilikang / detail
Update polaris.jenkinsfile — weilikang / detail
Update tc397_ota.jenkinsfile — weilikang / detail
Update hdmap-cloud.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail

#988 (Aug 12, 2026 10:10:43 PM)

fix: 远程单次直线步进END后不退出循环重回MOVE — wuyanjun110 / detail
fix: park子状态机收普通任务卡死PARK_MOVE无法退出 — wuyanjun110 / detail
chore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 — tangwenqing / detail
fix: Keb: 修复IMV重规划时起点曲率异常的问题 — tangwenqing / detail
fix: 修正纵向轨迹基础计算边界 — wuyanjun110 / detail
feat: 增强纵向碰撞连续扫掠 — wuyanjun110 / detail
fix: 统一纵向停车规划与限速约束 — wuyanjun110 / detail
feat: 增加 Lattice 停车诊断界面 — wuyanjun110 / detail
feat:s弯下码头面不搜索的bug — wuyanjun110 / detail
fix: 防止终点制动阶段重新提速 — wuyanjun110 / detail
fix: 支持停车终点释放后的低速前移 — wuyanjun110 / detail
fix: 修正短距停车前移速度 — wuyanjun110 / detail
fix: 隔离停车目标跨帧状态 — wuyanjun110 / detail
fix: 修正双头 IMV 直线步进方向 — wuyanjun110 / detail
fix: 修复纵向停车限速恢复与无解兜底 — wuyanjun110 / detail
feat: 引导线绘制车道 ID — wuyanjun110 / detail
feat: 支持短直道路口连续搜索 — wuyanjun110 / detail
perf: 缩小版本宏的编译影响范围 — wuyanjun110 / detail
fix: 修复相邻道路逆向车误触发窄会车 — wuyanjun110 / detail
doc: SSEP: 补充搜索模块相关的注释和文档 — tangwenqing / detail
fix: 防止 Lattice 轨迹合成陷入死循环 — wuyanjun110 / detail
feat: 统一无ID聚类障碍运动跟踪 — wuyanjun110 / detail
fix: 序列化直道路口边界开关 — wuyanjun110 / detail
fix: 修复进堆场规划器头文件引用路径 — wuyanjun110 / detail
fix: 调整散货出场禁横移区域判定 — wuyanjun110 / detail
fix: 调整散货出场禁横移区域判定 — wuyanjun110 / detail
feat: 散货进场末段切换 PJPO 规划 — wuyanjun110 / detail
fix: 增强 SSEP 目标路径有效性校验 — wuyanjun110 / detail
feat: 振石进场按参考线构造搜索起点 — wuyanjun110 / detail
feat: 散货进场末段切换 PJPO 规划 — wuyanjun110 / detail
fix: 增强 SSEP 目标路径有效性校验 — wuyanjun110 / detail
feat: 振石进场按参考线构造搜索起点 — wuyanjun110 / detail
doc: SSEP: 增加keb optimizer及离线工具的说明文档 — tangwenqing / detail
fix: SSEP: 修复IMV多段倒车入库采样曲率设置错误的问题 — tangwenqing / detail
fix: 修复 Lattice 制动恢复与硬限速约束 — wuyanjun110 / detail
docs: 记录纵向规划连续性规则 — wuyanjun110 / detail
fix: 平滑普通硬限速恢复制动 — wuyanjun110 / detail
fix: 平滑前方普通硬限速制动 — wuyanjun110 / detail
fix: 降低锁站缩距区域限速 — wuyanjun110 / detail
doc: SSEP: 补充ssep子模块的整体说明文档 — tangwenqing / detail
fix: 增强 routing 地图转换边界保护 — wuyanjun110 / detail
feat: 基于 SSEP 包络优化 Bulk 场景判断 — wuyanjun110 / detail
fix: 修复 SSEP 重叠路径切段失败 — wuyanjun110 / detail
fix: 修复侧绕历史路径失效触发无轨迹停车 — wuyanjun110 / detail
fix: 调整梁山港 Bulk 场景规划模式 — wuyanjun110 / detail
chore: SSEP: 单段倒车时不使用倒车曲率限制策略 — tangwenqing / detail
fix: 细分梁山港 Bulk 场景规划模式 — wuyanjun110 / detail

#987 (Aug 7, 2026 6:19:46 PM)

fix: Keb: 修复堆场转场时避障距离过大的问题 — tangwenqing / detail
fix: Keb: 修复出堆场时挂车距离障碍物太近的问题 — tangwenqing / detail
feat: SSEP: 前港清除access line附近的地图障碍物 — tangwenqing / detail
fix: SSEP: 前港口清除access line附近的地图障碍物2 — tangwenqing / detail
feat: SSEP: IMV多段路径规划，在优化时增加“方向切换参考点” — tangwenqing / detail

#987 (Aug 7, 2026 6:19:46 PM)

fix: 兼容 IMV Park Lock 状态步进 — wuyanjun110 / detail
fix: 修复 math 模块 size_t 编译错误 — wuyanjun110 / detail
docs: 记录 Park Lock 步进与构建修复 — wuyanjun110 / detail

#986 (Aug 7, 2026 1:10:32 PM)

fix: 修正双头 IMV 直线步进方向 — wuyanjun110 / detail

#985 (Aug 7, 2026 11:16:33 AM)

feat: 增加堆高机侧向吊具高度防护 — wuyanjun110 / detail
feat: 显示障碍物朝向与速度方向 — wuyanjun110 / detail
feat: 补充 SL 边界语义访问器 — wuyanjun110 / detail
fix: 提前窄路靠边车辆绕行判定 — wuyanjun110 / detail
fix: 防止DP搜索中断后绕行路径错误回正 — wuyanjun110 / detail
fix: 稳定动态障碍绕行边界切换 — wuyanjun110 / detail
fix: 稳定窄路会车的 DP 采样边界 — wuyanjun110 / detail
fix: 过滤未沿道路对齐的会车收边 — wuyanjun110 / detail
fix: 修正 DP 动态障碍横向范围过滤 — wuyanjun110 / detail
feat: 支持受控低速车辆超车 — wuyanjun110 / detail
fix: 收紧快速对向会车边界 — wuyanjun110 / detail
fix: 保持绕行路径连续性 — wuyanjun110 / detail
fix: 修正录包触发模块标识 — wuyanjun110 / detail
fix: recover lattice planner from stop fallback loop — chenran / detail
fix: 延迟普通出堆场区域切换 — wuyanjun110 / detail
fix: 稳定任务切换期间区域状态 — wuyanjun110 / detail
fix: serialize WBCA max cost — chenran / detail
fix: 低速出桥场景适配锁站安全档位 — wuyanjun110 / detail
fix: 延迟普通出堆场区域切换 — wuyanjun110 / detail
fix: 稳定任务切换期间区域状态 — wuyanjun110 / detail
fix: 修正录包触发模块标识 — wuyanjun110 / detail
fix: plan from history in low speed — chenran / detail
fix: plan from history in low speed — 5081703.cr / detail
fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换 — wuyanjun110 / detail
fix: 修正场景规划器过早退出判断 — wuyanjun110 / detail
fix: update WBCA for truck and imv — chenran / detail
feat: 支持真石 IMV 按途经点多段停车 — wuyanjun110 / detail
feat: 支持右转路口前停车 — wuyanjun110 / detail
fix: use history path for IMV direct link — chenran / detail
fix: use history path for IMV direct link — chenran / detail
fix: 修复缓刹遇障碍后无法进入停止态 — wuyanjun110 / detail
feat: 右转停车后自动起步 — wuyanjun110 / detail
fix: speed down unexpectly in wbca smooth mode. — chenran / detail
fix: 修复普通场景缓冲区数据失效问题 — wuyanjun110 / detail

#984 (Aug 5, 2026 9:18:53 AM)

feat_out:外设命令扩充(需重编外设及rmi) — zhaojianfeng2 / detail
feat_out:增加全量上传topic — zhaojianfeng2 / detail
feat_out:增加消息定义 — zhaojianfeng2 / detail
feat_out:修改东方特钢上装控制枚举 — zhaojianfeng2 / detail

#983 (Jul 31, 2026 3:45:59 PM)

chore: SSEP: Duplicate turning-in-place points in straddle carrier scenario. — tangwenqing / detail
fix: 修复直线步进指令立即中断 — wuyanjun110 / detail
fix: SSEP: IMVMultiSegmentParking: Use given pass point heading as heuristic search target. — tangwenqing / detail

#981 (Jul 31, 2026 9:42:54 AM)

Update push.groovy — weilikang / detail
Update push.groovy — weilikang / detail
Update orinBuild.groovy — weilikang / detail
Update orin32Choice.groovy — weilikang / detail
Update orin64Choice.groovy — weilikang / detail
Update orinModule32Choice.groovy — weilikang / detail
Update orinModule64Choice.groovy — weilikang / detail

#981 (Jul 31, 2026 9:42:54 AM)

Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update hdmap-cloud.jenkinsfile — weilikang / detail
Update python-scripts.jenkinsfile — weilikang / detail
Update system-libraries.jenkinsfile — weilikang / detail
Update system-libraries.jenkinsfile — weilikang / detail
Update mizar.jenkinsfile — weilikang / detail
Update polaris.jenkinsfile — weilikang / detail
Update tc397_ota.jenkinsfile — weilikang / detail

#981 (Jul 31, 2026 9:42:54 AM)

feat: 新增障碍物置信度评分行人靠近报警 — liuhongshuo / detail
feat: 预警时间间隔参数化 — liuhongshuo / detail
fix:内存问题修复测试 — haoxiangtao / detail
fix:内存问题修复测试 — haoxiangtao / detail
feat: 合并冲突 — liuhongshuo / detail
feat: 新增障碍物置信度评分行人靠近报警 — wuyanjun110 / detail
feat: 预警时间间隔参数化 — wuyanjun110 / detail
feat: 合并冲突 — wuyanjun110 / detail
feat: DeadLock新的停止点在1m以内车辆不启动 — liuhongshuo / detail
fix: DeadLock 使用历史纵向约束判断近距离停车锁存状态 — liuhongshuo / detail
fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段 — wuyanjun110 / detail
perf: OGM精细碰撞采样点分级去重, 控制序列化体积 — wuyanjun110 / detail
fix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出 — wuyanjun110 / detail
fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段 — wuyanjun110 / detail
perf: OGM精细碰撞采样点分级去重, 控制序列化体积 — wuyanjun110 / detail
fix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出 — wuyanjun110 / detail
chore: Keb: 忽略ssep_ec中缓存的real obstacles — tangwenqing / detail
fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留 — wuyanjun110 / detail
perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效 — wuyanjun110 / detail
fix: 远程单次直线步进END后不退出循环重回MOVE — wuyanjun110 / detail
feat: 走廊边界按gap端点来源差异化内缩(corridor_buffer_*), 钳制保DP路径可行 — wuyanjun110 / detail
fix: park子状态机收普通任务卡死PARK_MOVE无法退出 — wuyanjun110 / detail
fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留 — wuyanjun110 / detail
perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效 — wuyanjun110 / detail
fix: 远程单次直线步进END后不退出循环重回MOVE — wuyanjun110 / detail
fix: park子状态机收普通任务卡死PARK_MOVE无法退出 — wuyanjun110 / detail
refactor: SSEP: 移除ilqr集卡轨迹库功能 — tangwenqing / detail
fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级 — wuyanjun110 / detail
fix: Path/DiscretizedPath 空与单点场景既有隐患修复 — wuyanjun110 / detail
fix: 堆场内open space场景误报REGION_OUT_BRIDGE提前降安全阈值, 改按guide line查挂尾所在路段类型, 挂出堆场后再切换 — wuyanjun110 / detail
fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级 — wuyanjun110 / detail
fix: Path/DiscretizedPath 空与单点场景既有隐患修复 — wuyanjun110 / detail
fix: MatchPtByS 对超末端 s 解引用 end() 迭代器的未定义行为 — wuyanjun110 / detail
feat: 障碍决策模块化, 运动状态迟滞+label消抖+准入谓词单一源 — wuyanjun110 / detail
feat: 动态障碍时间对齐边界收窄+会车旁路(灰度 use_dynamic_bound_clamp) — wuyanjun110 / detail
feat: side-pass trace 增加动态收窄漏斗与逐障碍投影明细 — wuyanjun110 / detail
feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 — tangwenqing / detail
fix: 速度置信度的引入收敛到只影响行人靠近预警功能 — liuhongshuo / detail
fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入 — wuyanjun110 / detail
fix: 格式漂移更改配置参数更改 — liuhongshuo / detail
feat: 绕行决策加固一轮(误绕行治理+类型策略+动作承诺+限速补全) — wuyanjun110 / detail
fix: revering in straight line — chenran / detail
fix: is_in_straight_lane = false during park state — chenran / detail
fix: 绕行DP转移预剪放宽, 治偏置起点+畸短首段致l=0直行走廊不可达误绕行 — wuyanjun110 / detail
feat: 绕行动作承诺加实际横向执行门槛(防空承诺固化误绕行) — wuyanjun110 / detail
feat: 类型策略灰度默认开启(use_sidepass_type_policy 默认 true) — wuyanjun110 / detail
feat: 直道正面逆向车走会车收窄让行, 不再 BLOCK 死等 — wuyanjun110 / detail
chore: 会车收窄封顶 dyn_clamp_meeting_depth_cap 默认 0.8→0.9(收窄更紧) — wuyanjun110 / detail
fix: 补 NARROW_MEETING_SPEED_LIMIT 登记, 修 CreateNarrowMeetingConstrain 断言崩溃 — wuyanjun110 / detail
fix: Station2Align 补齐准入过滤, 防不该进align场景绕道从station复入 — wuyanjun110 / detail
feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 — tangwenqing / detail
fix: SSEP: 修复变道轨迹末端可能画龙的问题 — tangwenqing / detail
feat: 会车逆向道窄时不借道让行(纯逻辑判场景+走廊左界渐变钳) — wuyanjun110 / detail
feat: 烟台车内/柱子/房子点云及下沉坑点适配 — wuyanjun110 / detail
fix: 会车让行逆向道几何改用 guide 系断面, 钳制线改为逆向道近边界 — wuyanjun110 / detail
feat: HMI快照按钮触发发SNAP录包(关掉决策结果保存) — wuyanjun110 / detail
feat: 窄会车主动贴右让行(走廊左界钳到对向车近侧)+修急停判定两处笔误 — wuyanjun110 / detail
perf: 窄会车贴右就近查改单调游标(O(n²)→均摊O(n)), 诊断日志降频 — wuyanjun110 / detail
chore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 — tangwenqing / detail
feat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景 — wuyanjun110 / detail
feat: 新增镇石(ZHEN_SHI)站点地理围栏, IMV前进进出站复用西联场景 — wuyanjun110 / detail
feat: HMI快照按钮触发发SNAP录包(关掉决策结果保存) — wuyanjun110 / detail
fix: 极限变道弯道tunnel沿参考线折线化, 补挂车offtracking裕量与急弯降级 — wuyanjun110 / detail
fix: 极限变道弯道tunnel沿参考线折线化, 补挂车offtracking裕量与急弯降级 — wuyanjun110 / detail
feat: 逆向车道快速接近凸包停车防护(cluster兜底) — wuyanjun110 / detail
chore: 逆向车道接近防护灰度默认打开 — wuyanjun110 / detail
fix: 窄会车限速HMI补绘制颜色, 原落到default暗红 — wuyanjun110 / detail
feat: 红绿灯实时灯态停车, 含倒计时通行判断与红灯缓行 — wuyanjun110 / detail
style: 灯相位改指定初始化器, 防字段顺序变动时静默错位 — wuyanjun110 / detail
feat: 地图标注红绿灯相位与倒计时, 挂动态层避免静态缓存不刷新 — wuyanjun110 / detail
build: Debug 调试信息拆到 .dwo, 链接改用 lld — wuyanjun110 / detail
fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用 — wuyanjun110 / detail
fix: SSEP: 解决终点区域被加入close set导致无法搜到终点的问题 — tangwenqing / detail
feat: SSEP: IMV新增基于pass point倒车点的多段搜索 — tangwenqing / detail
feat: 锁站方向判定增加终点在车后倒车分支 — wuyanjun110 / detail
fix: 途径点匹配改按横向距离绝对值取最近中心线 — wuyanjun110 / detail
fix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码) — wuyanjun110 / detail
build: Debug 调试信息拆到 .dwo, 链接改用 lld — wuyanjun110 / detail
fix: BETWEEN_YARD 条件增加前进方向判断, 倒车时不启用 — wuyanjun110 / detail
feat: 锁站方向判定增加终点在车后倒车分支 — wuyanjun110 / detail
fix: 途径点匹配改按横向距离绝对值取最近中心线 — wuyanjun110 / detail
fix: center_line 深度 review 一轮(判定修正+越界防护+去冗余拷贝+清死代码) — wuyanjun110 / detail
feat: 添加车辆最大曲率计算函数，优化运动学处理 — wuyanjun110 / detail
feat: HMI 显示 road boundary 的 shift type — wuyanjun110 / detail
fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用 — wuyanjun110 / detail
fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲 — wuyanjun110 / detail
feat: 梁山港进料场景也使用通用牵引挂车泊车场景 — wuyanjun110 / detail
feat: 云端轨迹下发各 lane 的剩余长度与总长度 — wuyanjun110 / detail
fix: 修复 TrajectoryPoints 三处按弧长插值的参数误用 — wuyanjun110 / detail
fix: 修复 PJPO 变道横移走不完与跨两车道路径扭曲 — wuyanjun110 / detail
feat: 云端轨迹下发各 lane 的剩余长度与总长度 — wuyanjun110 / detail
feat: HMI 显示 road boundary 的 shift type — wuyanjun110 / detail
fix:修复合并的bug — wuyanjun110 / detail
chore: KEB: 集卡lane follow优化轨迹末状态使用软约束、调整参数 — tangwenqing / detail
feat: 逆向车道接近支持 Replayer 回放诊断 — wuyanjun110 / detail
fix: 修正逆向车道防护区域构建 — wuyanjun110 / detail
feat: 增加堆高机侧向吊具高度防护 — wuyanjun110 / detail
feat: 显示障碍物朝向与速度方向 — wuyanjun110 / detail
fix: 禁止跳过动态场桥临停约束 — wuyanjun110 / detail
feat: 支持真石 IMV 按途经点多段停车 — wuyanjun110 / detail

#981 (Jul 31, 2026 9:42:54 AM)

feat_out:全量包上传topic — zhaojianfeng2 / detail
feat_out:崩溃防护 — zhaojianfeng2 / detail
fix_bug:修复崩溃问题 — zhaojianfeng2 / detail

#981 (Jul 31, 2026 9:42:54 AM)

feat_out: 匹配宝世顺的需求 — caoxue / detail
feat_out: 增加集群能力 — caoxue / detail
feat_out: 去掉metrics消息log日志 — caoxue / detail
feat_out: 去掉metrics消息log日志 — caoxue / detail
feat_out: 去掉metrics log日志 — caoxue / detail
fix_out: debug信息验证一下 — caoxue / detail
fix_out: debug信息 — caoxue / detail
feat_out: 并发问题 — caoxue / detail

#980 (Jul 24, 2026 11:45:04 AM)

Update vehicleInfo.groovy — weilikang / detail
Update vehicleInfo.groovy — weilikang / detail
Update vehicleInfo.groovy — weilikang / detail

#980 (Jul 24, 2026 11:45:04 AM)

Add new file — weilikang / detail
Update shanghai-luojing-submodule — weilikang / detail
Update map-png.jenkinsfile — weilikang / detail
Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail
Update hainan-yangpu-submodule.jenkinsfile — weilikang / detail

#979 (Jul 15, 2026 7:13:31 PM)

fix: wbca velocity profile bug — chenran / detail
fix: Keb: 修复Warm start频繁失败的问题 — tangwenqing / detail
fix: 修正云端配置中access line的yard_id赋值 — wuyanjun110 / detail

#978 (Jul 15, 2026 7:04:05 PM)

fix: 修正云端访问线路的yard_id赋值 — wuyanjun110 / detail