Build #219 (Aug 19, 2025 10:25:43 AM)

1. Update orinModule32Choice.groovy (details)
2. Update vehicleInfo.groovy (details)
3. Update vehicleInfo.groovy (details)
4. Update vehicleInfo.groovy (details)
5. Update vehicleInfo.groovy (details)

1. Add new file (details)
2. Update yiwu-suxi-submodule.jenkinsfile (details)
3. Update yiwu-suxi-submodule.jenkinsfile (details)
4. Update hdmap-cloud.jenkinsfile (details)
5. Update hdmap-cloud-arm.jenkinsfile (details)
6. Update map-png.jenkinsfile (details)
7. Update map-png.jenkinsfile (details)
8. Add new file (details)
9. Update xinjiang-kaiwo-submodule.jenkinsfile (details)
10. Update beihai-taiyangzhiye-submodule.jenkinsfile (details)
11. Update xinjiang-kaiwo-submodule.jenkinsfile (details)
12. Update map-png.jenkinsfile (details)
13. Update module-confname.jenkinsfile (details)
14. Update module-confname.jenkinsfile (details)
15. Update module-confname.jenkinsfile (details)
16. Update module-confname.jenkinsfile (details)

1. feat_out:增加模式切换开启模式自检log (details)

1. feat_out:调整心跳初始化顺序 (details)

1. feat_out:底盘消息增加翻斗角度 (details)
2. feat_out:异常值的处理 (details)
3. feat_out:货箱角度移到vehicle/status消息 (details)
4. feat_out:增加平滑滤波 (details)

1. fix: 修复崩溃问题，opensapce时roadboundary无效 (details)
2. fix: add speed limit flg (details)
3. fix: in_region_width = 0.2 (details)
4. fix: low bay ssep tunnel (details)
5. fix: using ros::rate.sleep (details)
6. fix: error condition (details)
7. Revert "fix: using ros::rate.sleep" (details)
8. fix: 出堆场障碍物过滤 考虑堆场口附近车辆 (details)
9. fix: extend daxie henger tunnel (details)
10. fix: low bay ssep tunnel (details)
11. fix: 出堆场障碍物过滤 考虑堆场口附近车辆 (details)
12. fix:out yard obstacle use box (details)
13. fix:dx use box in out yard (details)
14. fix: error condition (details)
15. fix: generate road boundary from envelops (details)
16. fix: 变道尝试阶段停在龙门吊不安全区域范围外 (details)
17. fix: stop warning (details)
18. fix: smooth mode for imv (details)
19. fix: disable crabs cost for imv. (details)
20. fix: 崩溃修复，openspace 和ex_lane_change_planner切换 (details)
21. fix: 崩溃修复，openspace 和ex_lane_change_planner切换 (details)
22. Revert "fix: 变道尝试阶段停在龙门吊不安全区域范围外" (details)
23. fix: 变道尝试阶段停在龙门吊不安全区域范围外 (details)
24. fix: 变道横向区域外的桥腿不考虑 (details)
25. fix: 防护纵路上龙门吊附近变道 (details)
26. fix: crabs cost only be activated in straight lane. (details)
27. fix: into yard low bay (details)
28. fix:ssep low bay replan bug (details)
29. feat:添加低速障碍物的绕障功能 (details)
30. fix: obs tunnel校验 (details)
31. fix: obs tunnel校验 (details)
32. feat:添加低速障碍物的绕障功能 (details)
33. fix: imv smooth mode. (details)
34. Revert "Merge remote-tracking branch 'origin/feat_wbca_st' into feat_wbca_truck" (details)
35. feat:驾驶走廊 (details)
36. fix: 一次规划跨多个车道/section终点值计算错误的bug (details)
37. add: 通过junction id关闭搜索 (details)
38. feat:添加dp搜索算法 (details)
39. feat:使用dp的结果构建边界 (details)
40. fix: 在弯道中禁止时触发下个弯道搜索，扩大搜索边界 (details)
41. fix: 身后途经点匹配范围阈值 (details)
42. fix: 在弯道中禁止时触发下个弯道搜索，扩大搜索边界 (details)
43. feat:固定dp搜索点 (details)
44. feat:删除序列化的字段 (details)
45. feat:临时适配老的消息 (details)
46. feat:临时适配老的消息 (details)
47. feat:lower og around 和 forbidden og 接受utm坐标系数据 (details)
48. fix: use_func_simulator = false, map_version = true (details)
49. fix: 探头防护只考虑桥腿 (details)
50. fix: 修改场桥移动停车参数 (details)
51. fix: 弯道禁停end_s加上head_base2front (details)
52. fix: imv crabs mode. (details)
53. fix: disable shift near destination. (details)
54. fix: out yard filter obstacle (details)
55. fix: delete debug local path. (details)
56. fix: imv crabs mode selection. (details)
57. fix: low bay into yard end right most (details)
58. fix: align和反向路径不创建弯道禁停 (details)
59. fix:修复崩溃的bug (details)
60. fix: 终点前30m内变道缩短安全校验距离 (details)
61. fix: Velocity cost opt. (details)
62. fix: 场桥探头防护修复&龙门吊附近变道安全判断修复 (details)
63. feat: 优化 trajectiory csot (details)
64. refeat:优化绕行决策 (details)
65. fix: 提取终点匹配的横向偏移参数 (details)
66. fix: into yard tunnel boundary constrain (details)
67. feat:添加驾驶走廊约束 (details)
68. feat:调整障碍物权重 (details)
69. fix: 变道临停ss跳过需要校验cmd_value=true (details)
70. fix: 探头防护只考虑桥腿 (details)
71. fix: 修改场桥移动停车参数 (details)
72. fix: 弯道禁停end_s加上head_base2front (details)
73. fix: out yard filter obstacle (details)
74. fix: low bay into yard end right most (details)
75. fix: 终点前30m内变道缩短安全校验距离 (details)
76. fix: 场桥探头防护修复&龙门吊附近变道安全判断修复 (details)
77. fix: 提取终点匹配的横向偏移参数 (details)
78. fix: 变道临停ss跳过需要校验cmd_value=true (details)
79. fix: align和反向路径不创建弯道禁停 (details)
80. feat:添加决策 (details)
81. fix: 吊具防护导致状态机跳变的bug (details)
82. feat:完善快照功能 (details)
83. Revert "feat:临时适配老的消息" (details)
84. Revert "feat:临时适配老的消息" (details)
85. fix:分支合并的bug (details)
86. fix: 一次规划跨多个车道/section终点值计算错误的bug (details)
87. fix:修复车辆尺寸小于道路宽度时， pjpo求解失败的bug (details)
88. fix:修复车辆尺寸小于道路宽度时， pjpo求解失败的bug (details)
89. fix: 变道临停的bug (details)
90. feat:调整小地图的显示 (details)
91. fix:修复cost 计算错误的bug (details)
92. fix:修复 参数获取错误带来的崩溃 (details)
93. fix:小地图尺寸显示的问题 (details)
94. feat:绕行时，对堆高机类型的障碍物再次膨胀 (details)
95. fix: PathSegmentIsStraightLine bug. (details)
96. feat:dp搜索时， 不可绕行区域的特殊处理 (details)
97. fix: keep heading in smooth mode. (details)
98. fix:修复弯道禁停停车的bug (details)
99. feat:优化普通道路限速的问题 (details)
100. feat:1.添加绕行状态及2.绕行限速3.绕行停车等待 (details)
101. fix: 锁站障碍物age校验改为>20 (details)
102. fix:修复锥桶不偏移的bug (details)
103. fix: add qhd case (details)
104. fix: 锁站区域计算重新匹配ego，防护openspace区域锁站范围计算错误 (details)
105. fix:修复决策停车的bug (details)
106. feat:优化dp cost的计算 (details)
107. fix:修复回放的bug (details)
108. Revert "fix:修复决策停车的bug" (details)
109. feat:side pass 过程中， 目标车道保持为当前车道 (details)
110. fix: add start_up_weight. (details)
111. fix: weight_start_up in cfg_lat_plan (details)
112. fix: imv reversing path heading bug. (details)
113. fix: path exception. (details)
114. fix: remote ctrl direction (details)
115. fix:修复崩溃的bug (details)
116. refactor:优化轨迹的绘制 (details)
117. fix: 穿场禁停起始位置修复 (details)
118. fix: 纵六路出堆场搜索失败优化 (details)
119. fix: add open space cloud obstacle (details)
120. fix:修复播放快照时，内存泄漏的bug (details)
121. fix:在对准时，忽略安全模块修改成 错误可以自恢复 (details)
122. fix:在锁站区域，速度小于0.2m/s， 安全模块的状态修改为可恢复 (details)
123. feat:不绕行区域，ref l 不强制赋值0 (details)
124. fix:修复长弯道，限速的问题 (details)
125. feat:打开锁站途径点和锁站对准值校验时，校验不通过，直接返回错误 (details)
126. fix: 集卡堆场和码头面变道才考虑跟车距离 (details)
127. refactor:误绕行的优化 (details)
128. feat:调整小地图的显示 (details)
129. fix:小地图尺寸显示的问题 (details)
130. fix: reset wbca_data. (details)
131. fix:修复编译的bug (details)
132. fix: construct passing pt & map obj (details)
133. fix: 普通路口考虑散点处理 (details)
134. fix: imv path bug. (details)
135. fix: wbca_data serialization. (details)
136. fix: wbca serialization (details)
137. feat:安全模块接管状态下，拒绝对准指令 (details)
138. fix: prepare_default bug. (details)
139. fix: last trajectory bug. (details)
140. fix: stitch ssep path (details)
141. fix: ssep bulk align (details)
142. fix:锁站途径点和锁站对准值校验的bug (details)
143. fix:锁站途径点和锁站对准值校验的bug (details)
144. fix: local_optimization for car. (details)
145. fix: disable cost_min_d for imv in local_opt mode. (details)
146. fix: map obj (details)
147. fix:lka堆出时， 从当前点开始规划 (details)
148. fix: redundant variable (details)
149. fix: click img (details)
150. fix: click_image (details)
151. fix: single yard ssep failed (details)
152. feat: ssep on fence search (details)
153. fix:out yard box in junction expend (details)
154. fix: add out yard expend obstacle in junction 0.6 (details)
155. fix: LoadDisableGuide default val (details)
156. feat:优化石墩绕行的决策 (details)
157. fix: out yard expend obstacle box (details)
158. fix: obstacle box in out yard ssep (details)
159. feat:打开release (details)
160. feat:调整前后帧距离校验的阈值 (details)
161. fix: search bound & stage (details)
162. fix: truck bulk scenario (details)
163. fix: plan region优化 (details)
164. fix: into yard low bay judge (details)
165. fix: backward stage用dubin曲线来决定是否向前搜索 (details)
166. fix: 散货状态机&绘制朝向角度 (details)
167. feat:岸桥作业， 终点附近， 安全模块的状态修改为可恢复 (details)
168. fix:修复场桥禁停的bug (details)
169. Revert "fix:out yard box in junction expend" (details)
170. fix:场桥禁停的bug feat:适配主路上的关路 (details)
171. refactor:优化关路禁停 (details)
172. fix: using smooth near destination when type = buffer. (details)
173. fix: disable_region_dis2dest_buffer = 100.0 (details)
174. fix: wbca params (details)
175. fix: bend decider add area (details)
176. fix: seaside search expend shore crane param (details)
177. fix: seaside search (details)
178. feat:在直行道理打开场桥的碰撞检测 (details)
179. feat:优化忽略的逻辑 (details)
180. feat:优化绕行决策 (details)
181. fix: extend shore crane stop func (details)
182. fix: xilian bulk (details)
183. fix:修复关路禁停的bug (details)
184. fix:routing data match (details)
185. fix: routing data nearest lane 20 to 30 (details)
186. fix: extend path heading (details)
187. fix: add base stop line into yard continuous search (details)
188. fix: w_deviation = 50, w_collision = 150. (details)
189. fix: into yard low bay judge (details)
190. fix: bend decider add area (details)
191. fix: seaside search expend shore crane param (details)
192. fix: seaside search (details)
193. feat:在直行道理打开场桥的碰撞检测 (details)
194. feat:优化忽略的逻辑 (details)
195. fix: extend shore crane stop func (details)
196. fix:修复关路禁停的bug (details)
197. fix: routing data nearest lane 20 to 30 (details)
198. fix:修复限速的bug (details)
199. fix: plan region (details)
200. fix:修复限速的bug (details)
201. fix: send guardian mode to ctrl. (details)
202. feat:关路点云， 进出堆场 和穿场都处理 (details)
203. feat:关路点云， 进出堆场 和穿场都处理 (details)
204. fix:右转横二路 (details)
205. fix: into yard low bay end tunnel (details)
206. fix: reset wbca_data when scenario changed. (details)
207. fix: add pjpo_bound_width (0.2) (details)
208. feat:新指令校验的bug (details)
209. fix:修复场景退出的bug (details)
210. add: source yard grid info (details)
211. fix:修复挂转角赋值错误的bug (details)
212. fix:修复崩溃的bug (details)
213. fix: use occupy grid info for bulk search (details)
214. fix: base stop line revert (details)
215. fix: boundary length after ego = 20 (details)
216. fix: 西联9号库搜索边界 (details)
217. fix: 触发封路变道距离关联速度 (details)
218. fix: ssep path extend (details)
219. fix: 西联9号库搜索边界 (details)
220. fix: 西联9号库搜索边界 (details)
221. fix: bulk lane match (details)
222. fix: bulk lane match (details)
223. fix: plot (details)
224. fix: plot (details)
225. fix:在堆场内,终点附近， 场景不进行碰撞检测 (details)
226. feat:西连户外吊机任务， 拒绝aa指令 (details)
227. fix: 1.into yard low bay  2.continuous low bay search (details)
228. fix: show_uradar_ = false. (details)
229. fix: boundary in seaside. (details)
230. fix: search region for qiangang (details)
231. fix: IsBulkInReverse judge (details)
232. fix: bend decider for lane change use switch target lane id (details)
233. fix: reverse direction judge (details)
234. fix: ssep data serialize (details)
235. fix: extend end pos in out seaside (details)
236. fix: out yard in dx extend obstacle (details)
237. fix: hairun out yard high bay in middle lane tunnel (details)
238. fix: out yard in dx extend obstacle (details)
239. fix: hairun out yard high bay in middle lane tunnel (details)
240. fix: bend decider for lane change use switch target lane id (details)
241. fix: extend end pos in out seaside (details)
242. fix: auto start in forward ssep bug (details)
243. fix: auto start in forward ssep bug (details)
244. fix (details)
245. fix: envelop expend (details)
246. fix: scenario in ssep switch logic (details)
247. fix: seaside search int out seaside (details)
248. fix: scenario in ssep switch logic (details)
249. fix: seaside search int out seaside (details)
250. fix: ssep serialize bug (details)
251. fix: 搜索模式判断 (details)
252. fix: ssep serialize version (details)
253. feat:提取的数据添加transmit command (details)
254. feat:提取的数据添加transmit command (details)
255. fix: 大榭低贝位搜索优化 (details)
256. fix: ssep data reset logic (details)
257. fix: ssep reset bug (details)
258. fix: 大榭N场调整 (details)
259. feat:shift+leftbutton pnc界面打点 (details)
260. add: draw yard area info (details)
261. fix: envelop in yard expend (details)
262. fix: replan for end pos change (details)
263. fix: bulk out场景才校验参考线 (details)
264. fix: expend param for envelop (details)
265. fix: envelop bug (details)
266. fix:错误的进行场桥碰撞检测 (details)
267. fix:错误的进行场桥碰撞检测 (details)
268. fix: add heading_morphism_coeff for imv_path_opt. (details)
269. fix: 缓冲点附近被挡停，切入park_lock (details)
270. fix: out yard ssep (details)
271. fix: draw map (details)
272. fix: c2v碰撞检测bug修复。 (details)
273. fix: 大榭低贝位搜索优化 (details)
274. fix: ssep data reset logic (details)
275. fix: ssep reset bug (details)
276. fix: 大榭N场调整 (details)
277. fix:修复move brake， move nstop, move estop状态下，规划曲线的减速度 (details)
278. fix:修复move brake， move nstop, move estop状态下，规划曲线的减速度 (details)
279. fix: 前港缓冲点不施加终点约束&不回退障碍物 (details)
280. fix: 打开搜索边界 (details)
281. fix: into yard ssep param (details)
282. feat:wcba和dev分支合并 (details)
283. feat:鸣笛参数默认修改为false (details)
284. fix: ssep ego type valid (details)
285. fix: get open space ego type (details)
286. add: hmi draw obj line (details)
287. fix: lock guard (details)
288. fix: hmi draw obs & occupy grid (details)
289. fix: yaml-cpp (details)
290. fix: into yard right most tunnel (details)
291. fix: yard grid process (details)
292. fix: 搜索失败回退时，采用随机途经点搜索 (details)
293. fix: lock2adjust (details)
294. fix: using lane_points. (details)
295. feat:添加基于参考线的引导线 (details)
296. fix: lock2adjust修复&根据堆场id取消start_tunnel (details)
297. fix: 搜索失败时回退栅格&区分占据和未定义栅格的颜色 (details)
298. fix:修复og点停车原因错误的bug (details)
299. fix: radius (details)
300. fix: lock2adjust阈值 (details)
301. fix: xilian start tunnel (details)
302. fix: QG步进时不控转向 (details)
303. feat:pnc junction (details)
304. fix: add lane_pts_detection.FromHis (details)
305. fix: lane_detection serialization. (details)
306. feat:完善guide line的数据结构 (details)
307. fix: lane_constrain (details)
308. feat:wbca适配 (details)
309. feat:调整场景基类 (details)
310. cache:编译通过 (details)
311. feat:地图限速 (details)
312. fix: seaside cran judge for ref (details)
313. fix: scenario crane crash in seaside path (details)
314. fix:优化前港显示 (details)
315. feat:优化road boundary的计算 (details)
316. fix: 倒车卸料任务，被挡停时切lock (details)
317. fix: judge in yard (details)
318. fix:优化前港显示 (details)
319. fix: 朝向角增加参数配置 (details)
320. fix: 角度不满足，挡停时切到stop_auto (details)
321. fix:merge bulk flag (details)
322. feat:在参考线上ok (details)
323. fix: flow_control.FromHis&crash fix (details)
324. fix: 触发挡停时才不进入stop_auto (details)
325. add: taiyangzhiye region (details)
326. refactor:修复远望系统序列化的bug (details)
327. feat:倒车ok (details)
328. fix:修复bulk out 场景识别错误的bug (details)
329. refactor:修改场景参数 (details)
330. feat:适配快照 (details)
331. fix: 搜索失败时使用随机途经点 (details)
332. fix: 优化前港搜索引导线 (details)
333. fix:qiangang search start pos from ref line (details)
334. fix: reverse search 增加hmi交互障碍物 (details)
335. refactor:调整关路禁停的点云的过滤方式 (details)
336. fix:连续路口拼接的bug (details)
337. refactor:调整关路禁停的点云的过滤方式 (details)
338. fix:连续路口拼接的bug (details)
339. fix: get  gate line crash bug (details)
340. fix: IsBulkInReverse judge (details)
341. refactor:优化倒车处理 (details)
342. fix: lon decision (details)
343. fix: forward search bezier guide line (details)
344. fix:修复起始点选取的bug (details)
345. fix:修复dp搜索的bug (details)
346. fix:修复引桥线拼接模式的bug (details)
347. fix: add search slow down constrain (details)
348. fix:修复回放崩溃的bug (details)
349. feat:完善二次停车的功能 (details)
350. fix: hmi_virtual_obs文件权限修复 (details)
351. fix: 修改hmi绘制障碍物的文件存放位置 (details)
352. fix: load file path (details)
353. fix: travel out 2 normal logic (details)
354. fix: add search process flag (details)
355. fix: lock2adjust条件修复 (details)
356. fix: safe distance for bulk reverse in yard (details)
357. feat:map related相关的数据降频处理 (details)
358. fix: scenario add history info (details)
359. fix: check seaside crane in path base ref (details)
360. feat:优化dp搜索 (details)
361. fix: velocity constrain opt. (details)
362. fix: expend search area (details)
363. fix: 状态机切换的bug (details)
364. fix: 安全模块提前接管切lock (details)
365. Revert "fix: velocity constrain opt." (details)
366. feat:优化snapshot的快照 (details)
367. fix:修复安全模块接管，状态机不切换的bug (details)
368. feat:添加安全模块状态下拒绝对准的功能开关 (details)
369. Revert "Revert "fix: velocity constrain opt."" (details)
370. fix: 修改堆场里reverse的终点约束 (details)
371. fix: time calculation bug. (details)
372. fix: travel out not trigger ssep search (details)
373. fix:修复快照崩溃的bug (details)
374. fix (details)
375. fix: 修改lock2adjust的距离校验门限 (details)
376. fix:解决路径跳变的问题 (details)
377. fix:修复可能崩溃的bug (details)
378. fix:修复停车属性的bug (details)
379. fix: add search mode for travel out in qian gang (details)
380. fix: hmi交互删除障碍物改为shift+鼠标右键 (details)
381. fix: 修改删除线段的方式 (details)
382. fix:适配锁站两次停车中,第一次停车偏移 (details)
383. fix:修复约束创建的bug (details)
384. fix:修复程序无法正常退出的bug (details)
385. feat:普通变道ok (details)
386. feat: destination type (details)
387. fix:修复普通变道场景的bug (details)
388. fix: 关掉岸桥场景搜索前减速 (details)
389. fix: (details)
390. fix:into yard tunnel in low bay (details)
391. fix: Adjust2Lock增加投影点的横向距离校验 (details)
392. fix: 自车周围一定范围内的栅格不考虑 (details)
393. fix: 车道查找阈值 (details)
394. fix: 车道查找阈值 (details)
395. fix: add head/trailer deviation from raw_ref_line in diagnose. (details)
396. feat:条长锁站状态机，添加 move 到 move 2nd的跳转 (details)
397. fix:修复状态机切换的bug (details)
398. fix:修复状态机切换的bug (details)
399. fix: Adjust2Lock增加投影点的横向距离校验 (details)
400. fix: 自车周围一定范围内的栅格不考虑 (details)
401. fix: destination type judge (details)
402. fix: 进料斗没有搜索途经点时，用reverse search (details)
403. fix: add change path deviation check (details)
404. fix: 修改栅格显示尺寸 (details)
405. fix: IsToBulkGantry (details)
406. refactor:优化锁站状态及 (details)
407. feat:快照序列化的bug (details)
408. fix: lock2adjust (details)
409. fix: hr high bay tunnel extend (details)
410. feat:优化 align 到 travel状态的切换 (details)
411. feat:终点后忽略障碍物 (details)
412. feat:终点后忽略障碍物 (details)
413. fix: 去缓冲点 (details)
414. fix: path optimization bug. (details)
415. feat:地图版本校验默认值修改成true (details)
416. fix:hr out yard end tunnel (details)
417. fix: hr high bay tunnel extend (details)
418. fix:hr out yard end tunnel (details)
419. fix: path optimization bug. (details)
420. fix: lock2adjust不指定终点类型，堆场里2段时会有料斗任务 (details)
421. fix: 序列化高精轮速 (details)
422. fix: 进堆场场景内，弯道外，可从当前点搜索 (details)
423. fix: st out yard end tunnel (details)
424. fix: st out yard end tunnel (details)
425. fix: (details)
426. fix:挂角无效时，云端轨迹赋值-1000.0 (details)
427. cache (details)
428. fix: weight_start_up = 10.0 (details)
429. fix: out seaside in region 100 (details)
430. fix: dx into yard end tunnel offset 0.1m (details)
431. feat:添加dubug 模式下， eigen库的优化 (details)
432. fix: qg forward ssep (details)
433. fix: 1. replan logic 2.forward search start pt (details)
434. fix: (details)
435. fix: out seaside in region 100 (details)
436. fix: 进堆场场景内，弯道外，可从当前点搜索 (details)
437. fix: qhd (details)
438. fix: 末段ssep路径才切lock (details)
439. feat:优化wcba的绘制 (details)
440. feat:弯道提速 (details)
441. feat:弯道提速 (details)
442. fix: 纵向决策修改龙门吊预测线heading (details)
443. fix: get trailer deviation from trailer_yaw. (details)
444. fix: add vehicle type identifiy (details)
445. fix: forward vehicle type (details)
446. feat:在弯道使用地图包络构建边界 (details)
447. fix: 修改一次规划第二段生成的距离条件，防止影响变道参考线 (details)
448. feat:锁站状态机， move 2nd 切换 pass 校验距离 (details)
449. fix: pnc target (details)
450. fix: add mission type (details)
451. fix: type error (details)
452. feat:调整Mission Type (details)
453. feat:堆料机任务，步进时，忽略og点相关的安全 (details)
454. feat:料堆任务，在bulk状态机下，安全模块错误可恢复 (details)
455. fix: perception contour crash condition for path operation (details)
456. feat:调整Mission Type (details)
457. feat:堆料机任务，步进时，忽略og点相关的安全 (details)
458. feat:料堆任务，在bulk状态机下，安全模块错误可恢复 (details)
459. fix: end tunnel & stop for cluster (details)
460. fix:切换park lock的时候考虑 close ogm emergency stop (details)
461. fix:切换park lock的时候考虑 close ogm emergency stop (details)
462. fix:修复 包络框 sl 计算的bug (details)
463. fix:修复path sl 计算条件的bug (details)
464. fix:修复path sl 计算的bug (details)
465. fix: enable O1 option. (details)
466. fix: vehicle expanding in wbca. (details)
467. feat:障碍物的sl budndary 根据 guide line 处理 (details)
468. fix: 优化回退逻辑 (details)
469. fix: add open_space_wbca_params (details)
470. refactor:优化聚类限速 (details)
471. fix:修复合并后编译的错误 (details)
472. fix: routing 第二段倒车不考虑感知包络框碰撞 (details)
473. fix:修复崩溃的bug和前港出堆场 bulk out 场景识别的bug (details)
474. fix:修复上码头收到新任务,参考线跳变的bug (details)
475. fix:修复上码头收到新任务,参考线跳变的bug (details)
476. fix: add lock_station_points. (details)
477. fix: lock_station_pts.reset (details)
478. fix: add ssep scenario task change (details)
479. feat:根据实线和虚线限制roadboundary (details)
480. fix: 获取港区位置修复，防止定位后启导致的区域识别错误 (details)
481. feat:添加拒绝对准的逻辑 (details)
482. feat:remote ctrl 状态下,平行驾驶接管退出 (details)
483. fix: compatible with old lane_detection. (details)
484. fix: ssep data reset for scenario change (details)
485. fix: clear ssep target path (details)
486. feat:remote ctrl 状态下,平行驾驶接管退出 (details)
487. fix: add initersection_wbca_params. (details)
488. fix: expand obstacle box in driving corridor. (details)
489. fix: history_pts from his. (details)
490. feat: 联和利华 (details)
491. Revert "fix: 获取港区位置修复，防止定位后启导致的区域识别错误" (details)
492. fix: 通过开关调整步进不控转向 (details)
493. fix:修复崩溃的bug (details)
494. refactor:修复远望系统序列化的bug (details)
495. fix: into yard end tunnel in left decrease 0.1m (details)
496. fix: compatible with telediagnose. (details)
497. fix: travel out replan logic (details)
498. fix: guardian mode set (details)
499. fix:修复快照崩溃的bug (details)
500. feat imv reverse for ssep (details)
501. fix:修复使用历史参考线， 参考线变短的问题 (details)
502. fix:修复合并的bug (details)
503. refactor:car 人字形路径的适配 (details)
504. fix: lane_points backward. (details)
505. fix: lane_points backward. (details)
506. fix: add gantry classify (details)
507. refactor:添加序列化数据 (details)
508. fix: replan in travel out (details)
509. fix: replan in travel out param (details)
510. feat:通过时间差，清理wbca的数据 (details)
511. fix: add constrain slow down in bulk before (details)
512. fix: replan in travel out (details)
513. fix: replan in travel out param (details)
514. fix:删除日志打印 (details)
515. fix: lane_pts direction. (details)
516. fix: lane_pts direction. (details)
517. fix: weihai port truck reverse (details)
518. fix: lock_station_pts result visualization. (details)
519. fix:修复崩溃 (details)
520. fix: into yard end tunnel in left decrease 0.1m (details)
521. fix: auto start in bulk out constrain (details)
522. fix:修复imv 车型 wcba 求解器时间不赋值的bug (details)
523. fix: lock_station_pts visualization bug. (details)
524. fix: 大榭上引桥，2变3车道，变道passages pnc_map转换失败的bug。 (details)
525. fix: lon_decision opt. (details)
526. feat:适配动态上下码头面 (details)
527. fix: enter lka for lock_station_pts. (details)
528. feat:远程步进时，忽略安全 (details)
529. fix: add use_func_lock_station_lka (details)
530. fix: update config (details)
531. fix: motion_remote之后不允许从lock切adjust (details)
532. fix: stitch reference (details)
533. fix: u turn search in out yard (details)
534. fix: u turn search in out yard (details)
535. fix: s into yard end tunnel (details)
536. fix: using pnc_local_map.ego_match. (details)
537. fix: lock_station_pts serialization. (details)
538. fix: no_trajectory_stop bug. (details)
539. fix: response_decision_lane_change (details)
540. fix: open space search end in loc station (details)
541. fix: continuous bend in open space (details)
542. fix:修复忽略安全的bug (details)
543. fix:修复崩溃的bug (details)
544. fix: GetNeighborLaneSegments bug. (details)
545. fix: into yard search  in end lane size 1 (details)
546. fix: into yard tunnel reference guide (details)
547. refactor:手刹不中止直线步进 (details)
548. feat:调整安全模块区域限速 (details)
549. draw_lock_station_pts. (details)
550. fix: 1.scenario before bend 2.into yard low bay (details)
551. fix: stockpile end tunnel (details)
552. feat:西连进充电桩使用平滑模式 (details)
553. fix: qhd simulator (details)
554. fix: road boundary optimization for no_shift_region. (details)
555. fix: add weight_collision_negative in wbca. (details)
556. feat:引导线添加转向的属性 (details)
557. fix: continuous bend ssep identify (details)
558. fix: ssep data keep history for backup (details)
559. fix: close info in base stop line (details)
560. fix: start_up acc limitation. (details)
561. fix:添加堆场内中间车道进场桥区域限速 (details)
562. fix:修复Uturn出堆场口被挡停的问题 (details)
563. fix:修复在弯道前打点， ssep状态无法退出， 参考线不重新平滑的bug (details)
564. fix:merge bug (details)
565. fix: s into yard end tunnel (details)
566. fix: open space search end in loc station (details)
567. fix: continuous bend in open space (details)
568. fix: into yard search  in end lane size 1 (details)
569. fix: into yard tunnel reference guide (details)
570. fix: 1.scenario before bend 2.into yard low bay (details)
571. fix:进堆场低贝位约束 (details)
572. fix: 低贝位单车道约束优化 (details)
573. fix:into yard turn right ssep (details)
574. fix: 临时版本修复动态上下码头面 (details)
575. fix: open space area construct bug (details)
576. fix: add ssep in low bay for crane pos change (details)
577. fix: virtual crane pos match (details)
578. fix: low bay guide reference (details)
579. fix: using start_pt when quit lka. (details)
580. fix: 优化低贝位guide reference (details)
581. fix: guide line in ssep low bay (details)
582. fix: wei hai search tunnel (details)
583. fix: add crane search low bay thr (details)
584. fix: 西联centerline 匹配的bug (details)
585. fix: recover open space construct env (details)
586. fix: Sturn through yard (details)
587. fix:修复wcba 图生成耗时的bug (details)
588. fix:修复西联出停车位场景， 一次规划有两段路径时， 当前段匹配错误的bug (details)
589. fix: ssep state switch logic (details)
590. fix: judge open space inside region (details)
591. fix: 增加imv变道时Contour的扩展，防止og点校验和安全模块不一致导致的挡停 (details)
592. fix: qg path operation (details)
593. fix:修复状态机切换的bug (details)
594. fix:修复状态机切换的bug (details)
595. fix: extend ssep path (details)
596. fix: ssep crash (details)
597. fix: add search slow down constrain (details)
598. fix:优化回放路径的生成 (details)
599. fix: 出堆场终点校验逻辑优化 (details)
600. fix: add djk region area (details)
601. fix: djk ssep (details)
602. fix: trailer_ego_path bug. (details)
603. fix: wh car search ssep reference (details)
604. fix:挂角无效时，云端轨迹赋值-1000.0 (details)
605. fix:bulkload 状态下 没有云端路径的bug (details)
606. fix: ssep end pos change trigger replan (details)
607. feat:变道安全调整 (details)
608. fix: virtual stacker crane match pos (details)
609. fix: add lateral acc cost( disable) (details)
610. 1.增加终点匹配。2.从代码层面提升了运行效率 (details)
611. fix: bend decider keep manual choice (details)
612. refactor:1优化guide的转向，2.静态障碍物的扩展3.dp结果的不稳定 (details)
613. refactor:删除多余的打印 (details)
614. fix:驾驶走廊是否考虑ogm的赋值bug (details)
615. fix:调整扩展 (details)
616. fix: wbca path length optimization. (details)
617. fix : add search failed need stop (details)
618. fix: wbca path len bug. (details)
619. fix: ssep extend direction (details)
620. fix: wbca smooth mode for align_step_move (details)
621. fix: using ssep destination for bulkload_ssep_forward_stage. (details)
622. fix: add search failed error code (details)
623. feat:绕行限速参数化 (details)
624. fix: crane replan enable in bend (details)
625. fix: expand road_boundary for startup (details)
626. fix: search into yard for u turn (details)
627. fix: manual bend decider check cur loc (details)
628. fix: collision cost for no_shift region. (details)
629. feat:障碍物提阿加平均速度 (details)
630. fix:场桥场景识别的bug (details)
631. fix: decision_t = 0.3 (details)
632. feat:添加进堆场的跟车距离 (details)
633. Revert "fix: decision_t = 0.3" (details)
634. fix: draw non_extend trajectory. (details)
635. fix:在ssep路径上，偏离边界时，扩展边界的bug refactor:优化边界构建 (details)
636. 1. 使用圆盘近似box进行碰撞检测。 2.添加参考线启发项 (details)
637. fix:修复imv停车位，终点方向计算的bug (details)
638. fix:场桥场景识别的bug (details)
639. 修改碰撞安全阈值 (details)
640. fix: start_up boundary. (details)
641. fix: smooth mode for imv (details)
642. fix: add total_length and start_point. (details)
643. fix: start_point in replayer. (details)
644. fix: draw history ogm in replayer. (details)
645. refactor:优化吊具信息的校验 (details)
646. 1.修改安全阈值策略 2.重构碰撞检测子模块 (details)
647. feat:装后箱的高度判断参数化 (details)
648. fix: replayer boundary bug. (details)
649. feat:沟点不进行碰撞检测 (details)
650. fix: add to_normal (details)
651. feat:低速时,降低安全阈值 (details)
652. fix: add steering_rate constraint for truck. (details)
653. 1.加速imv与car的搜索。2.sl projection map中增加没有参考线时的保护 (details)
654. 搜索中添加障碍物代价 (details)
655. fix: add steering_rate constraint for truck. (details)
656. fix:修复转向速率限速带来可能崩溃的bug (details)
657. fix: continuous bend search failed (details)
658. fix:  < size (details)
659. fix:优化 连续弯道搜索，虚拟双黄线构建的bug (details)
660. fix:修复终点约束的bug (details)
661. fix:修复终点约束的bug (details)
662. fix:连续弯道搜索， 被虚拟障碍物挡停的bug (details)
663. 1.修复Mat赋值越界导致崩溃的问题 (details)
664. 调整障碍物阈值，启发项权重 (details)
665. 1.修复hybrid_search_car的崩溃问题 (details)
666. fix: low bay stop range (details)
667. fix: identify low bay (details)
668. fix: replan in low bay add scenario (details)
669. fix: into yard tunnel (details)
670. fix: extend search area (details)
671. fix: low bay dest tunnel (details)
672. fix: add scenario in replan decider (details)
673. fix: low bay tunnel for base stop line (details)
674. fix: low bay for end lane siez ==1 (details)
675. fix: virtual crane info (details)
676. fix: constrain for low bay stop (details)
677. fix: low bay constrain not construct for end base line (details)
678. fix: add constrain log (details)
679. fix:s turn into yard both high low bay (details)
680. fix: merge bug. (details)
681. fix: update config (details)
682. fix: truck config. (details)
683. fix: road boundary in lat/lon road. (details)
684. fix: proc process callback. (details)
685. fix:修复由于平滑或者ssep路径拼接，导致参考线overlap的s问题bug (details)
686. fix: bd_extend_start_pt update. (details)
687. fix: bd_extend_start_pt update. (details)
688. fix: into yard tunnel construct bug (details)
689. fix:修复region错误的bug (details)
690. fix: road_boundary opt. (details)
691. fix:修复编译的错误 (details)
692. fix:极限变道的bug (details)
693. feat:brake到norm切换添加开关 (details)
694. fix:回放中,SL 边界没有计算的bug (details)
695. fix:修复倒车过程中，后向障碍物不考虑的bug (details)
696. fix:修复dp结构不稳定的bug (details)
697. fix:临时解决状态机切换的bug (details)
698. feat:1. 散水池和不可以绕行区域的处理2.静态障碍物的扩展优化 (details)
699. feat:海南洋浦适配 (details)
700. fix:变道的bug (details)
701. fix: add sweep area for road_boundary. (details)
702. fix: area expanding = 0.1 (details)
703. fix: imv backward align_step_forward bug. (details)
704. fix: lock_station lka condition. (details)
705. 1. ssep进堆场时使用ilqr curve代替rs curve (details)
706. fix: imv backward align_step_forward bug. (details)
707. fix: add sweep area for road_boundary. (details)
708. fix: delete sweep_area log. (details)
709. fix: draw history ogm in replayer. (details)
710. 1.ssep从参数路径中读取轨迹库 (details)
711. fix: into yard low bay tunnel (details)
712. feat:路径消失的bug (details)
713. feat:绕行的优化 (details)
714. feat:转向限速添加功能开关 (details)
715. feat:修改驾驶走廊 障碍物的膨胀 (details)
716. fix:修复崩溃的bug (details)
717. fix:修复og的bug (details)
718. fix: recal kappa in replayer. (details)
719. fix: into yard low bay tunnel (details)
720. add file (details)
721. format (details)
722. feat:添加是否sweepboundary的参数和修复崩溃的bug (details)
723. feat:调整bin文件的参数位置 (details)
724. use rs curve when reading file failed (details)
725. fix: steering rate speed constrain optimization. (details)
726. fix: steering rate speed constrain optimization. (details)
727. fix: steering rate speed constrain optimization. (details)
728. fix: add use_func_boundary_expanding_for_start_up_=false. (details)
729. fix: add use_func_boundary_expanding_for_start_up_=false. (details)
730. fix: into yard low bay tunnel (details)
731. fix:修复冲路径突判断的bug (details)
732. fix: hr x1 t1 high bay (details)
733. fix: yangpu 进出堆场适配 (details)
734. fix:修复dp结果跳变的bug (details)
735. fix: normal junction search (details)
736. fix:修改guardian区域和no shift 区域 重叠区域， wcba 求解失败的bug (details)
737. feat:添加龙须点的支持 (details)
738. fix: add qhd scenario test (details)
739. fix: delete local_wbca in path_task_opt (details)
740. fix: construct search area (details)
741. fix:修复合并的bug (details)
742. fix:xl park search bug (details)
743. fix: wbca_optimizer in plan thread. (details)
744. fix: delete static variable. (details)
745. fix:狭窄区域，回目标车道的bug (details)
746. fix: init tt curve manager (details)
747. fix: upper collision detection option for path_time_graph. (details)
748. fix:修复快照内存泄漏的bug (details)
749. fix: display history ogm in replayer. (details)
750. fix: car wbca bug. (details)
751. fix: init_wbca_manger. (details)
752. fix:参考线拼接的bug (details)
753. fix:修复路径冲突判断的bug (details)
754. fix: out yard high bay add tractor trailer angle diff offet (details)
755. fix:参考线拼接的bug (details)
756. fix:修复路径冲突判断的bug (details)
757. fix: path_optimization_task for debug_mode. (details)
758. fix:修复park场景不变道的bug (details)
759. fix:修复park场景不变道的bug (details)
760. fix:修复回放变道路径不显示的bug (details)
761. fix:修复回放变道路径不显示的bug (details)
762. fix: wbca weight_deviation=10.0 (details)
763. fix: wbca result in debug mode (details)
764. fix: wbca failed if ptr_esdf_map == null (details)
765. fix: wbca failed if ptr_esdf_map == null (details)
766. fix: init tt curve manager (details)
767. fix: yp low bay classify (details)
768. fix: close search base log (details)
769. fix: using stacker_crane polygon in drivable passage. (details)
770. fix: draw path_bd in guide_line_info. (details)
771. fix: truck/car params. (details)
772. fix:优化wcba 开线程参数传递修改为copy的方式 (details)
773. fix:绘制 guideline 相关的边界数据 (details)
774. fix:pjpo 求解失败的bug (details)
775. feat:偏离限速的bug (details)
776. fix: copy wbca_data in debug_mode. (details)
777. fix:修复junction overlap 前驱 后继 获取的bug (details)
778. fix: copy wbca_data in debug_mode. (details)
779. Extract line segments from ogm and use og line obstacles in ssep. (details)
780. SSEP line obstacle适配前港 (details)
781. resolve conflicts (details)
782. fix: out yard search failed (details)
783. fix:pnc map path 中drivable l 计算的bug (details)
784. fix: road boundary opt. (details)
785. fix: ssep state transit logic (details)
786. fix: shift_l compensation bug. (details)
787. fix: wbca_opt debug mode. (details)
788. fix: params for yangpu (details)
789. fix:修复变道准备阶段road boundary的bug以及路径条跳变的bug (details)
790. fix: open space down intersect search failed (details)
791. fix:修复快照内存泄漏的bug (details)
792. fix: open space down intersect search failed (details)
793. fix: stitch back up ssep pathfor open space (details)
794. improve latency of line segment extractor (details)
795. fix:修复云端障碍物显示的bug (details)
796. feat:ogm lines replyaer 处理优化，并且添加功能开关 (details)
797. fix: wbca velocity reference optimization. (details)
798. fix: road boundary opt. (details)
799. fix: shift_l compensation bug. (details)
800. fix:修复驾驶走廊不现实的bug (details)
801. fix: ignore IMV and C2V obstacle when build_ogm (details)
802. fix: imv parameters. (details)
803. fix: draw path boundary. (details)
804. fix: 1.qg calib param 2.add extract yard grid info (details)
805. fix: xl park search  faild (details)
806. fix: start_pos bug (details)
807. fix: velocity generator for imv. (details)
808. fix: lka for single side lane points. (details)
809. fix: update bound_width for yangpu (details)
810. feat:天津是否聚类og点的开关 (details)
811. fix:参考线拼接的bug (details)
812. fix:平滑的bug (details)
813. refactor:优化路径拼接 (details)
814. fix:删除日志打印 (details)
815. fix:修复崩溃的bug (details)
816. 修复ogm线段提取时访问越界的问题 (details)
817. fix: sweep area in bend. (details)
818. fix: boundary expanding bug. (details)
819. fix:使用ssep路径过程中,无法打点的bug (details)
820. fix:修复imv wcba 求解成功后,is_success不赋值的bug (details)
821. fix: wbca process_debug bug. (details)
822. fix: wbca process_debug bug. (details)
823. fix: reverse search truck (details)
824. fix: wbca debug mode bug. (details)
825. fix: wbca debug mode bug. (details)
826. fix: vehicle_type error in wbca.. (details)
827. fix: vehicle_type error in wbca.. (details)
828. fix: msg error. (details)
829. fix:修复多线程竞争导致的崩溃bug (details)
830. fix:优化扩展岸桥禁停 (details)
831. fix:优化扩展岸桥禁停 (details)
832. fix:优化扩展岸桥禁停2 (details)
833. fix:代码格式 (details)
834. fix:优化扩展岸桥禁停2 (details)
835. fix:修复合并的bug (details)
836. fix:优化扩展岸桥禁停 (details)
837. fix:优化扩展岸桥禁停2 (details)
838. fix: replayer bug. (details)
839. fix:修复扩展引桥， 显示不对的bug (details)
840. fix:修复扩展引桥， 显示不对的bug (details)
841. fix:修复扩展引桥， 显示不对的bug (details)
842. feat:减少聚类停车 (details)
843. Add skeleton and samplers for geometric searcher (details)
844. tmp commit (details)
845. feat:临时更改,适配消息 (details)
846. fix: lka deviation. (details)
847. feat:添加龙须点的支持 (details)
848. add topology analysis (details)
849. fix sl-projection-map crashing issue (details)
850. fix:参考线哦拼接优化 (details)
851. fix: pnc_map_path bug. (details)
852. fix: pnc_map_path bug. (details)
853. Complete geometric search V1.0 (details)
854. fix: add dg search simulator (details)
855. fix: ssep cmakelist (details)
856. fix: ssep yaml (details)
857. fix: suxi area calib (details)
858. fix:锁站不走中间的bug (details)
859. fix:修复过锁站不走道路中心的bug (details)
860. fix:修复倒车规划的bug (details)
861. fix:使用ssep路径过程中,无法打点的bug (details)
862. fix:into yard suxi search (details)
863. fix: out yard search double yellow tunnel (details)
864. fix: identify into yard low bay thr (details)
865. fix: replan deciderfor stop (details)
866. fix:1.当前车道识别错误的bug2.当时车道识别错误后，后继车道连接跳变的bug (details)
867. feat:直线步进的时候,添加忽略安全的逻辑 (details)
868. feat:直线步进的时候,添加忽略安全的逻辑 (details)
869. fix: tt seg search (details)
870. fix:参考线构建的bug (details)
871. fix:参考线构建的bug (details)
872. fix: CHECK(var_size_ <= SDLQ_MAX_VAR_SIZE) (details)
873. fix: CHECK(var_size_ <= SDLQ_MAX_VAR_SIZE) (details)
874. fix: CHECK(var_size_ <= SDLQ_MAX_VAR_SIZE) (details)
875. fix: ssep data for tt target path (details)
876. fix:倒车场景切换的bug (details)
877. fix:调整安全相关的逻辑 (details)
878. fix:倒车场景切换的bug (details)
879. fix: delete ssep data scenario condition (details)
880. refeat:优化终点计算，路径方向切换， guide line 拼接 (details)
881. fix: research tt seg search (details)
882. fix: cur path direct valid check (details)
883. fix: add ssep calib param for reverse (details)
884. feat:优化bug (details)
885. fix: clear steer for backward align. (details)
886. fix: add use_func_clear_steer_for_backward_align (details)
887. fix:修复终点距离计算 和 引导线拼接的bug (details)
888. Improve the latency of reading TTCurveTrajectoryLib. (details)
889. fix: seg tt path search (details)
890. Decrease the "max_safety_buffer". (details)
891. feat:调整cfg static (details)
892. feat:代码合并的bug (details)
893. fix:不添加停止线的bug (details)
894. 修复了SSep路径段数错误的问题，对前后方向切换时增加了路径延长策略，修复了结果不是最优路径的问题。。。 (details)
895. feat:合并的bug (details)
896. fix: imv wbca parallel mode: dheading < 1deg (details)
897. feat:调整上下层的显示 (details)
898. fix: vehicle_type_->vehicle_type() (details)
899. fix: suxi out yard search start pos (details)
900. feat:调整上下层的显示 (details)
901. feat:更新序列化 (details)
902. feat:调整上下层碰撞 (details)
903. feat:调整上下层碰撞 (details)
904. feat:调整上下层碰撞 (details)
905. feat:调整 堆场口 停车的位置 (details)
906. fix:不显示挂的bug (details)
907. feat:调整CMakeLists (details)
908. fix:代码合并的bug (details)
909. fix:规范成员函数的名称 (details)
910. feat:打开container size 的赋值 (details)
911. fix: add mpc_pred_path. (details)
912. 添加反向ilqr轨迹用于反向搜索 (details)
913. fix: not back up in bulk (details)
914. fix: ogm in behind dis (details)
915. 解决analytic connection反向的问题 (details)
916. fix: add log (details)
917. fix: lka_path msg. (details)
918. fix: wh close start tunnel (details)
919. feat:变道过程中,偏移的优化 (details)
920. feat:调整偏移边界 (details)
921. feat:远望系统不处理ogm lines (details)
922. feat:hmi界面添加开关， 是否显示 ogm lines (details)
923. feat:调整当前位置的匹配 (details)
924. feat:代码合并的bug (details)
925. feat:堆高机场， align切换的bug (details)
926. feat:堆高机场， align切换的bug (details)
927. feat:hmi界面添加开关， 是否显示 ogm lines (details)
928. feat:调整堆高机的关路停车 (details)
929. feat:调整堆高机的关路停车 (details)
930. feat:打开container size 的赋值 (details)
931. feat:在opne soace场景下,进行多段处理逻辑 (details)
932. fix: add pass tunnel (details)
933. fix: merge bug (details)
934. fix:scenario filter bug (details)
935. fix: search seg for ilqr (details)
936. 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)
937. fix:修复崩溃的bug (details)
938. fix:修复dp结果求解失败,直接反馈错误的bug (details)
939. fix:修复dp结果求解失败,直接反馈错误的bug (details)
940. fix: last_path.update error. (details)
941. fix:修复standby pnc local map 当前段匹配的bug (details)
942. fix: add lka_startup (details)
943. fix:修复普通搜索转openapce时。引导线拼接的bug (details)
944. fix:极限变道路径拼接的bug (details)
945. fix:routing idx 匹配错误的bug (details)
946. feat:下码头面场景， 一次规划 结果的heading和车辆当前heading差别过大时，触发下码头面搜索 (details)
947. fix: rs partition path check (details)
948. fix: wbca_data.copy() (details)
949. fix: wbca_data.copy() (details)
950. fix:修复崩溃的bug (details)
951. feat:优化边界 (details)
952. feat:修复imc倒车的bug (details)
953. feat:调整历史轨迹校验的阈值 (details)
954. fix: turn on lock_station_pts. (details)
955. feat:弯道前距离计算的bug (details)
956. feat:shift + 左键 打印车辆的位置 (details)
957. feat:ssep新港口 (details)
958. feat:在bulk load 场景下，收到任务自启动 (details)
959. feat: replayer 界面 shift + 左键 打印车辆的位置 (details)
960. feat:修复双20后箱时,状态机切换的bug (details)
961. fix: turn on lock_station_pts. (details)
962. fix:imv 倒车场景， 车辆方向不赋值的bug (details)
963. fix:修复搜索的bug (details)
964. feat:轨迹路径 默认参数的bug (details)
965. feat:pnc界面的虚拟障碍物不限制港口 (details)
966. feat:删除日志打印 (details)
967. fix:堆高机关路创建的bug (details)
968. feat:调整吊具防护滤波的时间 (details)
969. feat:吊具防护添加日志 (details)
970. fix:成功打点的标志位 (details)
971. feat:前后单车道的弯道边界边界 (details)
972. fix:修复崩溃的bug (details)
973. fix:修复变道检验的bug (details)
974. fix:修复崩溃的bug (details)
975. fix:修复安全模块接管的bug (details)
976. feat:董家口 road boundary的bug (details)
977. fix:bulk load下，出堆场时，ssep路径消失的问题 (details)
978. feat:优化变道 (details)
979. refactor:优化变道的bug (details)
980. fix:引导线拼接的bug (details)
981. refacot:优化状态机的切换 (details)
982. feat:添加特殊框,在框内，缩小跟车距离 (details)
983. feat:调整park状态下,安全距离选择的优先级 (details)
984. fix: lka condition. (details)
985. fix:修复大谢停车位,跟车距离的问题 (details)
986. feat:终点为park，终点距离小于5米，速度小于5m的时候， 安全模块忽略错误 (details)
987. fix: wbca velocity_time constrain bug. (details)
988. fix: wbca velocity_time constrain bug. (details)
989. feat:lattice 硬约束的bug (details)
990. fix:分段路径,识别当前点的bug (details)
991. refactor:优化忽略安全的条件 (details)
992. fix:修复崩溃的bug (details)
993. fix:安全模块不忽略错误态的bug (details)
994. fix:修复崩溃的bug (details)
995. fix: ignore dynamic obstacle in bend. (details)
996. feat:添加进出堆场， 强制低贝和高贝 (details)
997. fix: lka path_bd for lock_station_pts. (details)
998. fix: add lka region. (details)
999. fix:低贝位模式调整成两边有龙的模式 (details)
1000. feat:travel out时,车辆方向切换的问题 (details)
1001. feat:调整road 边界 (details)
1002. fix:修复分段路径计算的bug (details)
1003. fix: add local deployment scripts. (details)
1004. fix: use_func_lidar_estop false. (details)
1005. fix:region切换的bug (details)
1006. fix:杨浦调整出堆场的约束 (details)
1007. fix:调整进堆场的贝塞尔引导线 (details)
1008. fix: deployment params. (details)
1009. fix: /vehicle/command (details)
1010. fix: 崩溃的bug (details)
1011. fix: lock station lka condition opt. (details)
1012. feat:更改默认参数 (details)
1013. feat:添加no shft 区域 (details)
1014. fix: imv smooth mode. (details)
1015. fix: no_shift boundary bug. (details)
1016. fix: road_bd opt. (details)
1017. fix: no deviation around destination. (details)
1018. fix: ignore imv in front of ego. (details)
1019. fix: DisAble->Disable. (details)
1020. fix:修复崩溃的bug (details)
1021. feat:使用参考线拼接的时候 校验 横向误差和角度误差 (details)
1022. feat:调整约束 (details)
1023. feat:变道过程中， 考虑动态桥的预测 (details)
1024. chore(version):4.0.0 (details)

1. fix: add lka log. (details)

1. fix_bug:修复编译失败问题 (details)

1. feat_out: add lane name (details)

Started by user yangyuxing

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