Build #1273 (Nov 18, 2025 12:30:48 AM)

1. feat:添加多次步进的功能 (details)
2. fix:修复终点前变道的bug (details)
3. feat:添加参数 直行的junction 是否用路口的边界 (details)
4. refactor:删除打印日志 (details)
5. fix:road 级别的可行驶范围的bug (details)
6. feat:适配董分进堆场边界 (details)
7. fix:修复封路变道的bug (details)
8. fix:引桥前变道的bug (details)
9. fix:可能崩溃的bug (details)
10. fix:变道的bug (details)
11. fix:适配open space 场景 (details)
12. fix:人工对准误创建约束 (details)
13. feat:open space的优化 (details)
14. refactor:直线步进 优化步进时间 (details)
15. refactor:直线步进 优化步进时间 (details)
16. fix: add wbca debug var. (details)
17. fix: add lateral acc cost. (details)
18. fix: add wbca cost and time_consuming. (details)
19. fix:修复代码合并的bug (details)
20. fix: pub lane_pts debug msg. (details)
21. feat:暂时可以调试 (details)
22. feat: SSEP: 增加IMV-either-facing-goal搜索功能（可以头朝前也可以尾朝前） (details)
23. feat: SSEP: 增加集卡多段倒车场景 (details)
24. fix: SSEP: Resolve crashing issue. (details)
25. fix: SSEP: Resolve crashing issue. (details)
26. feat: add distance2bend (details)
27. fix: WBCA lane change path (details)
28. fix: choosing WBCA start_pt at guide_line in SMOOTH MODE (details)
29. feat:适配状态机场景 (details)
30. feat: WBCA serialization for debug. (details)
31. fix: using history_pts for lattice velocity reference. (details)
32. fix: use_func_use_wbca_speed_limit = true (details)
33. fix: using history_pts for lattice velocity reference. (details)
34. feat: SSEP: 增加引导线跟随模式搜索 (details)
35. feat: ssep适配脱困模式 (details)
36. feat:boost 编译错误 (details)
37. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
38. fix: lateral acceleration parameters. (details)
39. fix: ComputeLonGuideVelFromLatAcc (details)
40. feat: clear align times when align2nd to align1st. (details)
41. feat: clear align times when align2nd to align1st. (details)
42. feat:脱离模式 路径切换的适配 (details)
43. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
44. feat: SSEP: 增加引导线跟随模式搜索 (details)
45. fix: SSEP: 修复引导线跟随搜索的一些bug (details)
46. chore: SSEP: 新增DirectionalPath数据结构，简化对reference line的处理 (details)
47. fix: lon_decision for car. (details)
48. feat:cut ego 添加参数 (details)
49. feat:适配新的障碍物类型 (details)
50. fix: lon_decision for car. (details)
51. feat:脱困模式，适配重搜索逻辑以及地图版本校验 (details)
52. feat:cut ego 添加参数 (details)
53. feat:适配新的障碍物类型 (details)
54. fix: add min_turn_radius (details)
55. fix: add lattice_velocity_reference_mode (details)
56. fix: disable wbca debug mode. (details)
57. fix: max_lat_acc in wbca params (details)
58. fix: ignore dynamic obstacle in risk evaluation. (details)
59. fix:调整危险限速距离的bug (details)
60. feat:调整状态机 (details)
61. feat:远程步步进，停车时间参数化 (details)
62. fix:调整危险限速距离的bug (details)
63. feat:远程步步进，停车时间参数化 (details)
64. fix_out: lat_acc_baed ref vel cal error. add debug msg. (details)
65. fix:修复因为距离阈值，带来场景识别错误的bug (details)
66. fix: bug (details)
67. fix: disable wbca_debug mode. (details)
68. fix:修复终点距离计算的bug (details)
69. chore(format):格式 (details)
70. chore: 适配remote guide line变更 (details)
71. fix:修复海润进弯道后第一个停车位停不正的bug (details)
72. fix: delete log. (details)
73. enable ssep_heat_net (tmp commit) (details)
74. fix:修复误触发open space的bug (details)
75. fix: SSEP: 修复IMV进充电桩方向错误的问题 (details)
76. fix: delete log (details)
77. feat: SSEP: 完成 learning-based 进出堆场口搜索全流程 (details)
78. feat: 适配ssep learning-based 进出堆场口 (details)
79. feat:执行remote后进入stop auto (details)
80. feat:添加obj障碍物的跟车距离 (details)
81. refactor:优化bulk场景的限速 (details)
82. fix: SSEP: 修复终点在堆场边缘时，场景识别错误导致搜索失败的问题。 (details)
83. chore: SSEP: Add some printos. (details)
84. fix:修复park lock 切换 park out， 不重搜索的bug (details)
85. 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)
86. feat:添加obj障碍物的跟车距离 (details)
87. refactor:优化跟车距离 (details)
88. refactor:优化跟车距离 (details)
89. chore: SSEP: use standard out stream. (details)
90. fix: 解决未安装cuda的系统编译失败的问题。 (details)
91. fix:临时修复重搜索的bug (details)
92. refactor:优化动态搜索限速 (details)
93. feat: SSEP: 重规划时先考虑复用优化上一条轨迹 (details)
94. feat: SSEP重规划时复用轨迹 (details)
95. fix:修复replayer编译失败的bug (details)
96. fix: disable dynamic and steering speed constraints (details)
97. fix: add min_velocity_coefficient_for_velocity_cost. (details)
98. feat:添加障碍物靠近警报的功能 (details)
99. feat:添加障碍物靠近警报的功能 (details)
100. fix:修复出堆场过程中， travel out场景退出的bug (details)
101. fix: bulk场景 进出堆场限速的bug (details)
102. feat: SSEP: 增加imv keb optimizer, 适配两段式搜索任务。 (details)
103. refactor:优化动态搜索限速 (details)
104. feat:添加障碍物靠近警报的功能 (details)
105. fix:修复出堆场过程中， travel out场景退出的bug (details)
106. fix: bulk场景 进出堆场限速的bug (details)
107. fix:优化不绕行和搜索停车的问题 (details)
108. fix:保存任务时，当前定位保存错误的bug (details)
109. fix:合并的bug (details)
110. chore: SSEP: minor params finetune. (details)
111. feat: 海润适配新imv搜索器 (details)
112. fix: crash issue. (details)
113. fix: SSEP: 修复集卡进堆场轨迹绕圈问题 (details)
114. feat: ogm聚类时使用多边形代替原来的线段障碍物 (details)
115. chore: SSEP: (details)
116. feat: 进出堆场场景中，如果存在云端remote guide line的话，进入参考线跟随搜索模式。 (details)
117. chore: SSEP: imv optimizer参数调试 (details)
118. fix: 救援模式下，无法取消任务的bug (details)
119. fix:状态机切换的bug (details)
120. fix:修复带有bulk 途经点， opensspce 不搜索的bug (details)
121. chore: SSEP重构 - 实现搜索框架适配器，将旧的搜索器适配到新框架，统一流程。可视化与主进程解耦，去除死代码。 (details)
122. chore: 适配ssep重构 (details)
123. chore: SSEP: minor adjustments (details)
124. chore: SSEP: 1. imv-keb-optimizer调参解决低贝位进堆场路径画龙的问题。2. 限制斜行角度。 (details)
125. chore: SSEP: 增加打印信息，修复一些小错误。 (details)
126. feat:适配直线步进，根据ttc进行碰撞检测的功能 (details)
127. fix:1.修复fall back 重搜索的bug 2.fallback自动起步的bug (details)
128. fix:向后直线步进的bug (details)
129. fix:修复合并的bug (details)

Started by upstream project orin-module-slave32 build number 2640
originally caused by:

• Started by user wuyanjun
• Replayed #2,639 (diff)

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• refs/remotes/origin/master

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• origin/rc_dev_youyiguan

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