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Changes

Summary

  1. refactor:emergency stop的时候， 控制切换到 N档 (details)
  2. fix: disable trailer_state when disable reversing truck controller. (details)
  3. feat:平行驾驶的起始点的速度从历史轨迹上获取 (details)
  4. fix:调整期望速度的滤波 (details)
  5. refactor:平行驾驶的时候使用大的油门刹车表 (details)
  6. fix: chassis.steering_angle. (details)
  7. fix: steering stationary. (details)
  8. fix: chassis.steering_angle. (details)
  9. fix: steering_mode = auto for move_prepare. (details)
  10. fix: steer_speed = 1.0 for stationary. (details)
  11. fix: add lka log. (details)
  12. feat:打开爬坡标志位 (details)
  13. feat:调整远程步进最小规划速度 (details)
  14. fix: del acc_mpc_.reset (details)
  15. feat:调整倒车的油门刹车表 (details)
  16. feat:调整倒车的前馈补偿。 (details)
  17. fix: dsteer constrain in lka status. (details)
  18. feat:调整安全模块的接口，需和安全模块一块更新 (details)
  19. fix:编译的buy (details)
  20. fix: close log. (details)
  21. fix: mpc deviation for reversing truck. (details)
  22. fix: mpc status bug. (details)
  23. feat:对准时，刹车的问题 (details)
  24. feat:使用阈值门限 (details)
  25. feat:调整对准阈值的处理 (details)
  26. fix: using plan_data to activate stationary steering. (details)
  27. fix: stationary steering bug. (details)
  28. feat:新增零偏角度辨识及补偿功能 (details)
  29. fix:更改零偏角度yaml文件的读取方式 (details)
  30. fix: crash issue (details)
  31. fix: crash issue (details)
  32. fix: 屏蔽变道时的零偏补偿 (details)
  33. feat:适配多次步进 (details)
  34. fix:参考速度为0时质量估计失败的问题 (details)
  35. fix:ResetHFSMState()中不将task_id_置为0 (details)
  36. fix:刹车和起步问题修复 (details)
  37. fix:最小刹车问题修复 (details)
  38. fix: clamp steering angle. (details)
  39. fix:取消任务时切到N档 (details)
  40. fix:对准停不住车问题修复 (details)
  41. fix: imv车型也控制进入creep的距离 (details)
  42. feat: 新质量估计仅观测 && 停车距离预估用于刹车 (details)
  43. feat: update cfg_static from pnc_status. (details)
  44. fix: 停车距离预估功能优化 (details)
  45. fix：质量估计优化 (details)
  46. fix:平行驾驶优化 (details)
  47. feat: the creep brake consider weight (details)
  48. fix: 对准优化 (details)
  49. fix: 停车预估配置参数bug (details)
  50. feat: parking distance estimator add first stage gain (details)
  51. fix: truck creep 中积分项修复 (details)
  52. fix: 默认关闭新功能 (details)
  53. feat: creep增加动力学前馈但默认关闭 && creep日志记录优化 (details)
  54. feat: creep中的position模式变更策略 (details)
  55. feat: 对准末端速度参数化 (details)
  56. fix: 使用底盘速度的消息源更改 (details)
  57. fix: cmake using clang. (details)
  58. feat: 增加TCS功能 (details)
  59. feat：高精轮速对准和大转向时跟踪优化 (details)
  60. feat: 解决低速跟踪差的问题 (details)
  61. optimize PID integral and TCS (details)
  62. feat: 对准日志存储位置更改 (details)
  63. feat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 (details)
  64. feat: 更改日志记录 (details)
  65. feat: 增加全流程的纵向动力学log记录 (details)
  66. feat: 积分策略改变，倾向于保持减速 (details)
  67. fix: 积分项回收逻辑调整回上一版，更改参数 (details)
  68. fix: 修改防滑log记录 (details)
  69. feat: 高精轮速使用的防护 (details)
  70. feat: 增加急加速急减损步进功能 (details)
  71. fix：解决HopperDump停不到位的问题 (details)
  72. feat: 急加急减程度开放接口 (details)
  73. feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构 (details)
  74. feat: 增加机械效率参数 (details)
  75. fix: vehicle type in command (details)
  76. fix: trailer angle observer crash issue (details)
  77. fix: version (details)
  78. fix: using map lane with for single line lane detection (details)
  79. fix: 增加日志记录 (details)
  80. feat: 速度使用参数化 (details)
  81. chore: ignore worktrees directory (details)
  82. feat: 增加制动上升斜率 (details)
  83. feat : cmakelist bug (details)
  84. feat: 增加lmpc算法 (details)
  85. fix: bug (details)
  86. feat: 增加日志 (details)
  87. feat: 优化mpc速度误差补偿 (details)
  88. feat: 增加对准退出日志 (details)
  89. feat: 急停时增加斜率 (details)
  90. feat: 更改对准默认参数 (details)
  91. feat: 油门踏板开度发送和质量估计转化适配三一车 (details)
  92. feat: 增加日志 && lmpc bug (details)
  93. feat: amt gear 和 mpc回退机制优化 (details)
  94. feat: 增加autoholde日志 (details)
  95. feat: pid 刹车测略同步原版本 (details)
  96. fix: 默认参数更改 (details)
  97. feat: 增加质量估计log (details)
  98. feat: 参数梳理 (details)
  99. feat: 油门后处理优化 && 纵向模型辨识脚本 (details)
  100. fix: imv creep 中else分支未return的bug (details)
  101. feat: 更改油门滤波器 (details)
  102. fix: path_direction_lock时对准状态下停车 (details)
  103. refactor: truck对准控制器重构 (details)
  104. feat: 增加对准时刹超认为完成的功能开关 (details)
  105. feat: 优化imv纵向控制架构 (details)
  106. feat: SC车型适配 (details)
  107. feat: sc和imv重构review完成 (details)
  108. feat: 同步非线形mpc (details)
  109. refactor: 对准相关内容重构 (details)
  110. feat: 纵向动力学日志记录改为二进制方法 (details)
  111. feat: 控制器状态清空 (details)
  112. feat: 考虑弯道阻力系数 (details)
  113. feat: 弯道阻力处理优化 反向作业对准适配 (details)
  114. feat: truck的平行驾驶使用mpc纵向控制 (details)
  115. feat: log (details)
  116. fix: 日志log改回csv (details)
  117. fix: wrls质量初始化 (details)
  118. feat: log记录跨天问题 辅助起步问题 非线性通用性问题 (details)
  119. fix: log日志使用修改 (details)
  120. feat: SC自转适配 && SC对准控制器优化 (details)
  121. feat: 重载对准停车设定单独参数 (details)
  122. 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 (details)
  123. feat: 起步辅助 (details)
  124. 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 (details)
  125. fix: 重载刹车非线性接口应为踏板开度 (details)
  126. fix: 坡度限幅放在滤波器的输入端 (details)
  127. feat：重载单独设定刹车gain (details)
  128. feat: 重载时增大纵向mpo减速度变化量 (details)
  129. feat: 对准刹超时增大刹车 (details)
  130. fix：速度误差计算方式修改 (details)
  131. fix: kappa direciton for SC (details)
  132. feat: SC车型对准和步进优化 (details)
  133. feat: 增加原始pitch角度观测 (details)
  134. feat: SC车型适配倒车 (details)
  135. feat: sc 和 imv的move step修正 (details)
  136. feat: 增加速度IMV观测 (details)
  137. feat: 对齐速度IMV纵向控制 (details)
  138. feat: 低速停车距离优化 (details)
  139. feat: 控制日志记录重构 纵向mpc增加热启动关闭polish (details)
  140. feat: 放宽阈值 (details)
  141. fix: 日志记录地址更改 persistent_solver更改 (details)
  142. feat: 对准日志记录分割 (details)
  143. feat: 更改日志 (details)
  144. feat: 小速度停车距离预估调整 (details)
  145. fix: 停车距离预估除0风险 (details)
  146. feat: 调整安全逻辑 (details)
  147. feat: 求解超时软约束 (details)
  148. feat: 增加底层默认空载或重载的制动链路 (details)
  149. feat：参数读取兼容旧版本 (details)
  150. feat: 平行/摇控错误详细日志 (details)
  151. fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复 (details)
  152. feat: 纵向mpc适配仿真 (details)
  153. feat: 任何停车后都reset纵向控制器 (details)
  154. 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 (details)
  155. fix: 静止状态处理 (details)
  156. fix: 重置mpc控制器处理优化 (details)
  157. fix： 不在emergency stop过程中重置 (details)
  158. feat：平行驾驶无油门制动参数化 (details)
  159. feat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 (details)
  160. feat: 平行驾驶补偿 (details)
  161. feat: imv零偏补偿尝试 (details)
  162. feat: 底层反馈转向角适配零偏 (details)
  163. feat: IMV零偏双模态学习 (details)
  164. Revert "feat: imv零偏补偿尝试" (details)
  165. feat: 溜车防护 取消任务时制动防护 (details)
  166. fix： 只在给油门的时候检测溜车 (details)
  167. feat: 起步辅助时的质量不低于初始质量 (details)
  168. feat: 增加横向控制日志 (details)
  169. feat: 增加IMV运动学校验观测 (details)
  170. feat: 挡位保护 (details)
  171. feat: 实际运动轴距辨识扩展到truck (details)
  172. feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 (details)
  173. feat: 过滤小制动 (details)
  174. fix: 初始参数配置为0 (details)
  175. feat: 停车距离预估的motion less靠控制自己判断 (details)
  176. feat: 起步防滑与坡道起步优化 (details)
  177. fix:根据质量进行制动补偿功能比例定义错误修正 (details)
  178. feat: 增加park adjust下对准停车功能 (details)
  179. fix : sc 远程步进修复 (details)
  180. feat: 控制日志打印版本信息 (details)
  181. feat: park adjust停车允许5cm越冲 (details)
  182. feat: 支持双向步进振箱 (details)
  183. feat: 防滑错误码上传 (details)
  184. fix: 防滑报警默认关闭 (details)
  185. feat: 转弯积分补偿 (details)
  186. fix: 起步防滑不报错问题修复 (details)
  187. feat: 急停的正确清空 (details)
  188. feat: 只保留ee的机械急停 (details)
  189. feat: 振箱策略更改 (details)
  190. fix: add trailer_angle_compensation (details)
  191. feat: 步进模式下传给mpc的参考速度序列修正 (details)
  192. fix: trailer angle compensation (details)
  193. feat: steering latency compensation for reversing truck controller (details)
  194. fix: steering delay identification (details)
  195. fix: record debug data (details)
  196. fix: steering latency compensation optimizaiton (details)
  197. 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 (details)
  198. feat: 将减速度标定质量独立 (details)
  199. fix: trailer angle bug (details)
  200. feat: SC车型新增横向平移和自转功能 (details)
  201. fix: 起步阶段不再强制变更使用质量 (details)
  202. fix: add trailer_angle_replay_ekf (details)
  203. feat: 底盘为空时认为静止 (details)
  204. fix: SC模式切换保护 (details)
  205. feat: SC横移模式指令值更改 (details)
  206. fix: add speed governor (details)
  207. fix: update config (details)
  208. fix: auto recording script (details)
  209. fix: ignore bag files (details)
  210. fix: wire steer into mpc_solver (details)
  211. 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 (details)
  212. fix: add trailer angle comp calibrator (details)
  213. fix: update debug message (details)
  214. fix: update config (details)
  215. fix: calib bug (details)
  216. fix: update params (details)
  217. fix: add startup_blank_s (details)
  218. fix: trailer_angle_comp opt (details)
  219. feat: 转向补偿超限报警 单边停车质量补偿 (details)
  220. 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 (details)
  221. feat: SC车型运动方向固定 增加每个轮子角度的观测 (details)
  222. fix: 提前停车功能反向前进处理 (details)
  223. fix: emergency_brake的正确记录 (details)
  224. feat: 优化转向灯逻辑 (details)
  225. 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 (details)
  226. feat: SC步进横移bug (details)
  227. feat: estop函数积分保护失效的bug (details)
  228. feat: 急停使用的FollowCtrlDcc函数积分优化 (details)
  229. feat: truck 横向变步长mpc (details)
  230. feat: IMV零偏补偿航向学习错误 (details)
  231. feat: IMV零偏补偿航向学习错误 (details)
  232. fix: reject inconsistent rotation direction (details)
  233. fix(control): guard MPC during rotation command dropout (details)
  234. fix(control): guard MPC during rotation command dropout (details)
  235. feat: 转向积分补偿释放参数配置化 (details)
  236. feat: 变时域横向控制器优化调整 (details)
  237. feat：纵向控制器记录消耗时间 (details)
  238. feat:IMV 横向控制增加考虑延迟的控制器 (details)
  239. 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 (details)
  240. feat: 加速度计算不考虑定位标志位 (details)
  241. 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 (details)
  242. feat: SafePreprocess 优化 (details)
  243. feat: 对准和刹车时的减速度积分防护 (details)
  244. fix: 转向补偿默认关闭 (details)
  245. feat: add forward trailer bias estimator v2 (details)
  246. refactor(control): simplify trailer bias validation (details)
  247. feat: 堆高机和步进提前停车 (details)
  248. feat(control): filter pre-stop trailer bias samples (details)
Commit 62c5cfb45716daf5fc8ec1e63d1ca513d4183f9e by wuyanjun110
refactor:emergency stop的时候， 控制切换到 N档

The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 956f8a3473828368cc66a5e83051add64f16fdf7 by 5081703.cr
fix: disable trailer_state when disable reversing truck controller.

The file was modifiednode/process/prepare/prepare_state.cpp
Commit 27f18e13ab6249a0bf51a4cf1bb2d421979f864b by wuyanjun110
feat:平行驾驶的起始点的速度从历史轨迹上获取

The file was modifiedalgorithm/ctrl/parallel_controller/acc_augment_mpc.hpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp
Commit 7acfceefa6df603996a6fa5093d2e097fbfb54f2 by wuyanjun110
fix:调整期望速度的滤波

The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifieddata/ctrl_frame.hpp
Commit ae3a02987edd7aea21bce5557ce4f7e43b0cdcfa by wuyanjun110
refactor:平行驾驶的时候使用大的油门刹车表

The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit 1487a6739f9bfca101f3c2d889985aab07e8639a by 5081703.cr
fix: chassis.steering_angle.

The file was modifieddata/vehicle/vehicle_chassis.cpp
Commit f8862ad62e59762a23929c143f7f4c27b4e9db04 by 5081703.cr
fix: steering stationary.

The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
Commit 654c4699bcb0ae15999f4396df65857018f37977 by 5081703.cr
fix: chassis.steering_angle.

The file was modifieddata/vehicle/vehicle_chassis.cpp
Commit d7f59e16e1b15079456007dc145752d99a486ade by 5081703.cr
fix: steering_mode = auto for move_prepare.

The file was modifiednode/sink/ros_sink_command.cpp
Commit 3fae030da0e243933726301b4131ee6a7051d226 by 5081703.cr
fix: steer_speed = 1.0 for stationary.

The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
Commit d71badd88b706b71ccb37684b6312b13409a8b96 by 5081703.cr
fix: add lka log.

The file was modifiedalgorithm/ctrl/lka/observer/kalman_observer.cpp
The file was modifieddata/vehicle/lane_detection.cpp
Commit f8ea2c9c7f4c269d1f7becac0d78c10a729e7c8e by wuyanjun110
feat:打开爬坡标志位

The file was modifiednode/source/ros_source_parallel_cmd.cpp
Commit 350fd16a4e3aa149d53c8620a4a19338ca676184 by wuyanjun110
feat:调整远程步进最小规划速度

The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
Commit c21e5539ea3d02ffb5fcc4edd67dfac57c07744f by 5081703.cr
fix: del acc_mpc_.reset

The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit 8e505c5c05c35fa3591005bcf67d074bbb93ecac by wuyanjun110
feat:调整倒车的油门刹车表

The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit fb1ccc005c3ee46fe267bfc3fe48cb2680db8883 by wuyanjun110
feat:调整倒车的前馈补偿。

The file was modifieddata/config/cfg_parallel.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifieddata/config/cfg_parallel.hpp
Commit ffbb2a6ea6e05ff48598aafaa767a5e257c90b05 by 5081703.cr
fix: dsteer constrain in lka status.

The file was modifiedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
Commit 30e4489b2b6065fa68a3933f0980b753b3b5e871 by wuyanjun110
feat:调整安全模块的接口，需和安全模块一块更新

The file was modifieddata/plan/plan_data.cpp
The file was modifieddata/plan/plan_data.hpp
The file was modifiednode/sink/ros_sink_command.cpp
Commit d60b3ccfe7297adc7411bf5e08901cedc463fa3c by wuyanjun110
fix:编译的buy

The file was modifiednode/sink/ros_sink_command.cpp
The file was modifieddata/plan/plan_data.hpp
Commit e289a2fab15835498f5f244cf9c0311d91ac2323 by 5081703.cr
fix: close log.

The file was modifiedalgorithm/ctrl/lka/observer/kalman_observer.cpp
The file was modifiednode/process/prepare/prepare_traj.cpp
Commit 667e77a32b84c6acf1894d707aca5614f9501f91 by 5081703.cr
fix: mpc deviation for reversing truck.

The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
Commit 68142a159c826f1d73d252d37154be809fad66e4 by 5081703.cr
fix: mpc status bug.

The file was modifiedalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
Commit d663245c3ba11577d64c5dae9abb973d165fa952 by wuyanjun110
feat:对准时，刹车的问题

The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 7cdf9036dc4b885aa0c3bac3af3c02916f7ec831 by wuyanjun110
feat:使用阈值门限

The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 7d2eeb7ec642aa164f6e9162ae27aa4378dede2f by wuyanjun110
feat:调整对准阈值的处理

The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit bee5190cbc27da2d79fc347af8955b16ece0a9cc by 5081703.cr
fix: using plan_data to activate stationary steering.

The file was modifieddata/plan/plan_data.hpp
The file was modifieddata/plan/plan_data.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
Commit 3f5e4f1f4cd63acd48c0685f6687bc064e568c14 by 5081703.cr
fix: stationary steering bug.

The file was modifiednode/sink/ros_sink_command.cpp
Commit b6b84cf70ee229d6840e76c971b729abf1eac958 by liuhongshuo
feat:新增零偏角度辨识及补偿功能
The file was addedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was addedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifiednode/logic.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was addeddata/ctrl/observer_debug_data.hpp
The file was addeddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/ctrl/lateral_cmd.cpp
The file was modifiednode/logic.hpp
The file was modifiedCMakeLists.txt
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifiednode/sink/ros_sink_ctrl_debug.cpp
The file was modifiedpackage.xml
The file was addeddata/config/cfg_steering_offset_observer.cpp
The file was addeddata/ctrl/observer_debug_data.cpp
The file was modifiednode/CMakeLists.txt
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/ctrl_frame.hpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifieddata/ctrl/lateral_cmd.hpp
Commit 34f11cdc5f8d92a2a0124516a42b89bc2fa49604 by liuhongshuo
fix:更改零偏角度yaml文件的读取方式
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifiednode/logic.cpp
The file was modifieddata/config/cfg_steering_offset_observer.hpp
Commit c2ca63b1f39faa468c1c38dc814fe2d40602445d by 5081703.cr
fix: crash issue

The file was modifieddata/plan/plan_data.cpp
Commit 1e015cff9dddc734826837e074c145638e007784 by 5081703.cr
fix: crash issue

The file was modifieddata/plan/plan_data.cpp
Commit 19a8f0893012851595f722b221118a4eda904c8f by liuhongshuo
fix: 屏蔽变道时的零偏补偿
The file was modifiednode/process/proc/proc_lateral_controller.cpp
Commit bca99ca66e6ea06c8e9c210f911950ee9a40567c by wuyanjun110
feat:适配多次步进

The file was modifiedalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifieddata/ctrl/vehicle_attr.cpp
The file was modifieddata/plan/plan_enum_definition.hpp
Commit e3627ed0b0b7af9792d537f39ed05e50bbdabf3f by liuhongshuo
fix:参考速度为0时质量估计失败的问题
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/ctrl/vehicle_attr.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit da8eac4b8b7f77062435e87d267222132d9674be by liuhongshuo
fix:ResetHFSMState()中不将task_id_置为0
The file was modifieddata/plan/plan_data.cpp
Commit 03d1a9949aa987e93fd7bf6cd582ce0587ebd19e by liuhongshuo
fix:刹车和起步问题修复
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/ctrl/longitude_ctrl_debug_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/ctrl/longitude_ctrl_debug_data.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit c741ab97e651163a949200862f63fc21d032afd1 by liuhongshuo
fix:最小刹车问题修复
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit a1d15c814347f023e2ec82f593d4f3a53b12eb28 by 5081703.cr
fix: clamp steering angle.

The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiedCMakeLists.txt
Commit c0021668b12823b0e104d189d2ccb9541e54f81f by liuhongshuo
fix:取消任务时切到N档
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 469f07d20c84a2ea7e65c7e9f0fe21ceb58069c1 by liuhongshuo
fix:对准停不住车问题修复
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit 4d2049600e29c93ba14b177a4d81e9b7f0ca5dcf by liuhongshuo
fix: imv车型也控制进入creep的距离
The file was modifiednode/process/prepare/prepare_creep.cpp
Commit a923869ff2b65ba1d498bbcf665233ce775f4e18 by liuhongshuo
feat: 新质量估计仅观测 && 停车距离预估用于刹车
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was addedmath/filter/lowpass_filter.cpp
The file was addeddata/config/cfg_parking_distance.cpp
The file was modifieddata/ctrl_frame.hpp
The file was addedmath/filter/lowpass_filter.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was addedmath/identification/vehicle_mass_estimator.hpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiednode/process/prepare/prepare_attr.hpp
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifiednode/process/prepare/prepare_traj.cpp
The file was addeddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifieddata/ctrl/vehicle_attr.cpp
The file was modifiedmath/util/algebra.cpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/config/cfg_static.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was addedmath/identification/parking_distance_estimator.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was addedmath/identification/parking_distance_estimator.hpp
The file was modifieddata/ctrl/vehicle_attr.hpp
The file was modifieddata/config/cfg_mass_estimation.hpp
The file was addeddata/config/cfg_parking_distance.hpp
The file was addeddata/config/cfg_lon_dynamic_mpc.cpp
The file was addedmath/identification/vehicle_mass_estimator.cpp
Commit 11abef0f6f252b25d1c9bcaafc2e14720fc7ef94 by wuyanjun110
feat: update cfg_static from pnc_status.
The file was modifieddata/config/cfg_static.cpp
The file was modifieddata/config/cfg_static.hpp
The file was addednode/source/ros_source_pnc_status.hpp
The file was modifiednode/source/module.cpp
The file was modifieddata/config/cfg_topic.hpp
The file was addednode/source/ros_source_pnc_status.cpp
The file was modifieddata/config/cfg_topic.cpp
Commit 7dda8c34a63e4d30cf3dcf9780f3aa263b839484 by liuhongshuo
fix: 停车距离预估功能优化
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was modifiedmath/identification/parking_distance_estimator.hpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifiednode/logic.cpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
Commit 2799ce7485702c9d7189502f490de21a8aa15fa0 by liuhongshuo
fix：质量估计优化
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifiednode/logic.cpp
The file was modifiedmath/identification/vehicle_mass_estimator.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedmath/identification/vehicle_mass_estimator.hpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 4f01eede08a21e7f5b7bcf889161d952c84f998e by liuhongshuo
fix:平行驾驶优化
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
Commit 90f98d70883afe14d1fb6d43076799142013caf5 by liuhongshuo
feat: the creep brake consider weight
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifieddata/config/cfg_parking_distance.cpp
Commit 8466365acd87ff59ad79555ffa2b88589270c612 by liuhongshuo
fix: 对准优化
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_parking_distance.hpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiedmath/identification/parking_distance_estimator.hpp
The file was modifieddata/ctrl/observer_debug_data.cpp
Commit ce524138624fd65d93879bf9aaec24d18f0eb824 by liuhongshuo
fix: 停车预估配置参数bug
The file was modifieddata/ctrl_frame.cpp
Commit 715acf05d21b6221e37f946500215ce57e1a0fb1 by liuhongshuo
feat: parking distance estimator add first stage gain
The file was modifiedmath/identification/parking_distance_estimator.cpp
The file was modifieddata/config/cfg_parking_distance.hpp
The file was modifiedmath/identification/parking_distance_estimator.hpp
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
Commit dd7bdbfa7e4a6fbd98a506fcbb6f91548f98348a by liuhongshuo
fix: truck creep 中积分项修复
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 3789b319f892ee4d2d001a7eed76c49e3d33dfd6 by liuhongshuo
fix: 默认关闭新功能
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
The file was modifieddata/config/cfg_mass_estimation.cpp
Commit 15ddb883751c5e495ab1bc53780ce75c4cb9c828 by liuhongshuo
feat: creep增加动力学前馈但默认关闭 && creep日志记录优化
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modified.gitignore
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
Commit 9e3d2535ae2b3f4b1ec84118c55fc1d377e930bc by liuhongshuo
feat: creep中的position模式变更策略
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
Commit 07d9a9a7bf6e2e03e27c50b94c7d6d86c4e66036 by liuhongshuo
feat: 对准末端速度参数化
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit e5748087e51b8fb72bc49d5bf1d9de4ad7e584c4 by liuhongshuo
fix: 使用底盘速度的消息源更改
The file was modifieddata/vehicle/vehicle_state.cpp
Commit f7d781d64edec62cc423975239d6b9784f6e7c05 by 5081703.cr
fix: cmake using clang.

The file was modifiedcommon/log/log_config.cpp
The file was modifiedCMakeLists.txt
Commit 7ab75f2e7389e06a4e5b061be3120e07497a0a36 by liuhongshuo
feat: 增加TCS功能
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
Commit be6f849a5145cede55d1b392e3a71223ce2b0e97 by liuhongshuo
feat：高精轮速对准和大转向时跟踪优化
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit 0c12f43c28613db29ecd5782d5278922c7229bc2 by liuhongshuo
feat: 解决低速跟踪差的问题
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 51a0c112176584bbb075a10bd56d78c1240cd8e7 by liuhongshuo
optimize PID integral and TCS
The file was addeddocs/task_plan.md
The file was addeddocs/progress.md
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was addeddocs/findings.md
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was addedAGENTS.md
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was modifieddata/ctrl/longctrl_data.cpp
Commit 35e8faa7c435af6edb0ad51c3b614fd7e11fa6e4 by liuhongshuo
feat: 对准日志存储位置更改
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit add59702865f016f9a043b9c06316c99528c539f by liuhongshuo
feat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃
The file was modifiednode/process/prepare/prepare_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifieddata/ctrl/creep_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit b450e3744d3a5853fa3337157d2657203597fed9 by liuhongshuo
feat: 更改日志记录
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit df8de0e679dab840f39bcf76b4418fe23662b220 by liuhongshuo
feat: 增加全流程的纵向动力学log记录
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/ctrl_frame.hpp
The file was modifieddocs/findings.md
The file was modifieddocs/task_plan.md
The file was modifiedAGENTS.md
The file was modifiednode/logic.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifieddocs/progress.md
Commit c3d2ee1f98f6a326c710fc74cce7f393d09f5f6a by liuhongshuo
feat: 积分策略改变，倾向于保持减速
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifieddata/ctrl_frame.cpp
Commit f380266dceafb579463bc18fa7df5ed7f471852d by liuhongshuo
fix: 积分项回收逻辑调整回上一版，更改参数
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit d145f0f980059c43b4cc65cb0b27ce98ea651812 by liuhongshuo
fix: 修改防滑log记录
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit 5bf31e54ca59e77e23f3a7a1f85a28f010466bbf by liuhongshuo
feat: 高精轮速使用的防护
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
The file was modifieddata/ctrl/creep_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit e3cbaa3b13dd5f79745f716e77e40b9330857d7c by liuhongshuo
feat: 增加急加速急减损步进功能
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modified.gitignore
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was addedalgorithm/util/quintic_step_trajectory.cpp
The file was addedalgorithm/util/quintic_step_trajectory.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
Commit 388c91187d3a616a710fdb0bd95704c580eae6a3 by liuhongshuo
fix：解决HopperDump停不到位的问题
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
Commit 01b1500e6493831922a8cdc11deb518a379fbb34 by liuhongshuo
feat: 急加急减程度开放接口
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_creep.hpp
Commit e40fafff13f4ca1f7449cf0085aa7a46b0d54784 by liuhongshuo
feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedAGENTS.md
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiednode/process/proc/proc_parallel_controller.hpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
The file was modifiednode/process/proc/proc_parallel_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
The file was modifieddata/vehicle/vehicle_chassis.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifiednode/process/proc/module.cpp
The file was modifiednode/process/proc/proc_longitude_controller.hpp
The file was modifieddata/vehicle/vehicle_chassis.hpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cpp
The file was modifiednode/process/proc/module.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiednode/process/prepare/prepare_attr.hpp
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifieddata/config/cfg_static.hpp
Commit 32663748d25744a5bd2904615c27f88b6a0d29bc by liuhongshuo
feat: 增加机械效率参数
The file was modifieddata/config/cfg_static.hpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cpp
The file was modifieddata/config/cfg_static.cpp
Commit f99c9f562c5a4fd0cc8cfd4b5b4f73858984356a by chenran
fix: vehicle type in command
The file was modifiednode/sink/ros_sink_command.cpp
Commit 641a3497a25a883c238479db203fd250516ee6b5 by chenran
fix: trailer angle observer crash issue
The file was modifiedalgorithm/ctrl/observer/trailer_angle_observer.cpp
Commit ee394f86e5cc32ab6805f125add47ad82366cc31 by chenran
fix: version
The file was modifiednode/main.cpp
The file was modifiedCMakeLists.txt
The file was modifiedcommon/other/version.hpp
Commit 905c43a1753a6385d62f382fc3c6bf320b6b19d7 by chenran
fix: using map lane with for single line lane detection
The file was modifieddata/vehicle/lane_detection.cpp
Commit d025509aea60836db61179fced7560174e510195 by liuhongshuo
fix: 增加日志记录
The file was modifieddata/ctrl_frame.cpp
The file was modified.gitignore
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedAGENTS.md
Commit ddd6edfb8930f867b69b34d2b02e76ab5b576409 by liuhongshuo
feat: 速度使用参数化
The file was modifieddata/ctrl_frame.cpp
The file was addeddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.md
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
Commit 740281d2280833a35e0c526de27f917353492122 by liuhongshuo
chore: ignore worktrees directory
The file was modified.gitignore
Commit 64b313d4bff99c56bcf6cb6b5766a3381165d9fa by liuhongshuo
feat: 增加制动上升斜率
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was removeddocs/task_plan.md
The file was removeddocs/findings.md
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedAGENTS.md
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was removeddocs/progress.md
The file was modifiednode/process/proc/proc_limit.cpp
Commit f5665304ec7eb886a63685f57ca4eca9039373f2 by liuhongshuo
feat : cmakelist bug
The file was modifieddata/CMakeLists.txt
Commit 4f6c3a31a92fc8850c5292354d01c7054c05dcb0 by liuhongshuo
feat: 增加lmpc算法
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was addedalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was removedalgorithm/ctrl/lon_controller/pre_truck_lon_controller.hpp
The file was modifiednode/process/proc/proc_longitude_controller.hpp
The file was addedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hpp
The file was addedalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpp
The file was addedalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was addedalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was addedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was removedalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpp
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
Commit d3c62765b9d3b9ed2daa3a87555415d8802534a4 by liuhongshuo
fix: bug
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
Commit 2ed4d86973d5d6c2378952c505d4b9cbc1f674a7 by liuhongshuo
feat: 增加日志
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifiednode/sink/ros_sink_ctrl_debug.cpp
The file was modifiedalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpp
The file was modifieddata/ctrl/longitude_ctrl_debug_data.cpp
The file was modifieddata/ctrl/longitude_ctrl_debug_data.hpp
Commit 3d4d5d48be53eb6ffc00e70943200549aa222a69 by liuhongshuo
feat: 优化mpc速度误差补偿
The file was modifiedalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
Commit c2d8fa74576c9b71ecdc60198c241056b3b868a7 by liuhongshuo
feat: 增加对准退出日志
The file was modifieddata/ctrl/creep_data.hpp
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 5a7d5a618bbddafc08dcd1e48a2760c519bb5489 by liuhongshuo
feat: 急停时增加斜率
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiednode/process/proc/proc_limit.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifieddata/config/cfg_safe_const.hpp
Commit db9b1562a5d0c62ff5e8108571405570a0a933de by liuhongshuo
feat: 更改对准默认参数
The file was modifieddata/config/cfg_proc_longctrl.cpp
Commit 55dc095dfd100427852dfd831dbfe979cdab535c by liuhongshuo
feat: 油门踏板开度发送和质量估计转化适配三一车
The file was addedalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hpp
The file was modifieddata/config/cfg_static.cpp
The file was modifieddata/config/cfg_static.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hpp
The file was removedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hpp
The file was removedalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hpp
The file was addedalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hpp
The file was modifieddata/config/cfg_mass_estimation.hpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cpp
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cpp
The file was removedalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hpp
The file was removedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cpp
The file was addedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
Commit 640f99f1884330bf9386b7756ae7f81fcb3f62ce by liuhongshuo
feat: 增加日志 && lmpc bug
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifieddata/ctrl_frame.cpp
Commit e1aab86f7e4bb1e7ed152dfd01e0f7c81da67415 by liuhongshuo
feat: amt gear 和 mpc回退机制优化
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
Commit ba22fb9e94468095ba60e8685581d93bba90639f by liuhongshuo
feat: 增加autoholde日志
The file was modifieddata/ctrl_frame.cpp
Commit 0211ee8f37fea537f288ad8783d894d458a83539 by liuhongshuo
feat: pid 刹车测略同步原版本
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp
Commit 60fd2beac9e8472c742583611305969b1c2bda42 by liuhongshuo
fix: 默认参数更改
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifiedalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifieddata/config/cfg_static.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
Commit 6618b9e57edcf8952f540901f85577fc7345f7ce by liuhongshuo
feat: 增加质量估计log
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
Commit b4394c000ea59cef19f2e36f13367246c90e6a42 by liuhongshuo
feat: 参数梳理
The file was modifieddata/ctrl_frame.cpp
The file was removeddata/config/cfg_pid.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_augment_mpc.cpp
The file was modifiednode/logic.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was addeddata/common/pid_coef.hpp
The file was removedalgorithm/ctrl/lon_controller/pre_truck_creep_controller.hpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp
The file was modifieddata/ctrl_frame.hpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedalgorithm/ctrl/pid.hpp
The file was modifiednode/process/proc/proc_limit.cpp
The file was removedalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifieddata/config/cfg_creep.hpp
The file was removeddata/config/cfg_pid.hpp
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was modifiedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
Commit 87ced5f272df1f036359f994b20b10e25288b93e by liuhongshuo
feat: 油门后处理优化 && 纵向模型辨识脚本
The file was modified.gitignore
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was addeddocs/lon_delay_identify_usage.md
The file was addedscripts/lon_delay_identify.py
The file was addedscripts/test_lon_delay_identify.py
The file was modifiedalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp
Commit bcfb1d5e39e0a806ef11030d7101479722025b15 by liuhongshuo
fix: imv creep 中else分支未return的bug
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
Commit bc294ece471569b56035ddcf47ee06db9f5f88cc by liuhongshuo
feat: 更改油门滤波器
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
Commit d2a6d5b408627d8893047da20e2bebaa5312cd38 by liuhongshuo
fix: path_direction_lock时对准状态下停车
The file was modifiedalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
Commit b3e685d2fe51b9d262b94221dac26603b4281f72 by liuhongshuo
refactor: truck对准控制器重构
The file was modifieddata/config/cfg_parallel.hpp
The file was removedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modifiednode/process/prepare/prepare_creep.hpp
The file was addedalgorithm/ctrl/lon_controller/truck_align_creep_controller.hpp
The file was addedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
The file was modifieddata/config/cfg_static.hpp
The file was removedalgorithm/ctrl/lon_controller/truck_creep_controller_2.hpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiednode/process/proc/proc_longitude_controller.hpp
The file was modifieddata/config/cfg_creep.hpp
The file was addeddocs/truck_creep_upgrade_cleanup.md
The file was removedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was addedalgorithm/ctrl/lon_controller/truck_align_creep_controller.cpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifieddata/config/cfg_parallel.cpp
The file was modifieddata/ctrl/creep_data.hpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp
The file was removedalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
Commit e395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41f by liuhongshuo
feat: 增加对准时刹超认为完成的功能开关
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_align_creep_controller.cpp
Commit 8d321998c0e7fa22a06d3e0cfb552c08cf18739b by liuhongshuo
feat: 优化imv纵向控制架构
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.hpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiednode/process/proc/proc_parallel_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_lon_log_helper.hpp
The file was addedalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.hpp
The file was modifieddata/config/cfg_dynamic.hpp
The file was addedtest/cfg_creep_config_test.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpp
The file was addedalgorithm/ctrl/lon_controller/imv_lon_log_helper.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/imv_lon_log_helper.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifieddata/config/cfg_creep.cpp
The file was addeddocs/task_plan.md
The file was modifiedCMakeLists.txt
The file was addednode/process/proc/proc_move_step_controller.hpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was addedalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp
The file was modifiednode/process/proc/module.hpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
The file was addeddocs/progress.md
The file was removedalgorithm/ctrl/lon_controller/mpc_lon_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiednode/process/proc/module.cpp
The file was addednode/process/proc/proc_move_step_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hpp
The file was addedtest/CMakeLists.txt
The file was addeddocs/findings.md
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was addedtest/ros_test_main.cpp
The file was addedtest/cfg_lon_config_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_align_creep_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/imv_move_step_controller.hpp
The file was addedalgorithm/ctrl/lon_controller/imv_speed_pid.cpp
The file was addedalgorithm/ctrl/lon_controller/imv_speed_pid.hpp
The file was modifieddata/config/cfg_dynamic.cpp
The file was removedalgorithm/ctrl/lon_controller/mpc_lon_controller.cpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was addedtest/imv_speed_pid_test.cpp
Commit 0cf715a8f060d85c1d83e7a1ae885b56fddcae06 by liuhongshuo
feat: SC车型适配
The file was addedalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp
The file was addedtest/sc_creep_config_test.cpp
The file was modifieddata/vehicle/vehicle_config.hpp
The file was addedtest/sc_proc_routing_test.cpp
The file was addednode/process/proc/proc_controller_routing.hpp
The file was addedtest/sc_vehicle_config_test.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedconfig/config_car/vehicle_config.yaml
The file was modifieddata/config/cfg_creep.hpp
The file was modifiednode/process/proc/proc_move_step_controller.cpp
The file was addedtest/imv_align_mode_guard_test.cpp
The file was addedtest/sc_runtime_adaptation_test.cpp
The file was modifieddata/vehicle/vehicle_config.cpp
The file was addeddocs/review_lon_refactor_20260414.md
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiedconfig/config_truck/vehicle_config.yaml
The file was modifiedtest/CMakeLists.txt
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was addedtest/sc_move_step_mode_test.cpp
The file was addedalgorithm/ctrl/lon_controller/sc_creep_controller.hpp
The file was addedtest/imv_lon_emergency_brake_test.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.cpp
The file was addedconfig/config_sc/vehicle_config.yaml
The file was removedalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpp
The file was modifieddata/config/cfg_creep.cpp
The file was removedalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifiedconfig/config_imv/vehicle_config.yaml
The file was addedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was modifiedtest/cfg_creep_config_test.cpp
The file was addedtest/sc_align_controller_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
The file was addedalgorithm/ctrl/lon_controller/sc_creep_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was addedtest/sc_sink_command_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hpp
The file was addeddocs/review_sc_migration_20250716.md
The file was modifiedtest/ros_test_main.cpp
The file was modifiednode/sink/ros_sink_command.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedtest/cfg_lon_config_test.cpp
The file was addedalgorithm/ctrl/lon_controller/sc_align_utils.hpp
The file was addedconfig/config_sc/ctrl.yaml
The file was modifieddata/config/cfg_static.cpp
Commit 9c6f4a6af36b0985c7de3002ff228f268477843a by liuhongshuo
feat: sc和imv重构review完成
The file was modifieddocs/findings.md
The file was modifiednode/process/proc/proc_move_step_controller.cpp
The file was addedtest/sc_proc_move_step_controller_test.cpp
The file was added"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"
The file was modifieddocs/progress.md
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiednode/process/proc/proc_move_step_controller.hpp
The file was modifiedtest/CMakeLists.txt
The file was modifieddocs/task_plan.md
Commit 6069d81632ed54a6d5c72a0f32d79615314ced49 by liuhongshuo
feat: 同步非线形mpc
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was removed"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"
The file was removeddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.md
The file was removeddocs/review_sc_migration_20250716.md
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was removeddocs/truck_creep_upgrade_cleanup.md
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cpp
The file was removeddocs/progress.md
The file was removeddocs/task_plan.md
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp
The file was removeddocs/findings.md
The file was removeddocs/review_lon_refactor_20260414.md
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was removeddocs/lon_delay_identify_usage.md
Commit da67d245e737cd818163f063162c7cd0890b38f1 by liuhongshuo
refactor: 对准相关内容重构
The file was addedtest/controller_minimal_red_test.cpp
The file was removedtest/imv_speed_pid_test.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_creep_common.hpp
The file was removedtest/sc_proc_routing_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpp
The file was removedtest/sc_runtime_adaptation_test.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was removedtest/imv_lon_emergency_brake_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
The file was modifiednode/process/proc/proc_longitude_controller.hpp
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was removedtest/sc_align_controller_test.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.cpp
The file was modifieddata/ctrl/vehicle_attr.hpp
The file was addedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was removedtest/sc_move_step_mode_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp
The file was removedtest/sc_creep_config_test.cpp
The file was modifieddata/ctrl/creep_data.hpp
The file was modifiednode/process/proc/proc_controller_routing.hpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hpp
The file was removedalgorithm/ctrl/lon_controller/truck_align_creep_controller.cpp
The file was removedtest/imv_align_mode_guard_test.cpp
The file was removedalgorithm/ctrl/lon_controller/truck_align_creep_controller.hpp
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was removedtest/sc_vehicle_config_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiednode/process/prepare/prepare_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp
The file was modifieddata/config/cfg_creep.cpp
The file was removedtest/cfg_creep_config_test.cpp
The file was removedtest/sc_sink_command_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_move_step_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was removedtest/sc_proc_move_step_controller_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.hpp
The file was modifiedtest/CMakeLists.txt
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was removedtest/cfg_lon_config_test.cpp
Commit d37e229636f8b0866f83534de07d5ffbdf9fc146 by liuhongshuo
feat: 纵向动力学日志记录改为二进制方法

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedtest/CMakeLists.txt
The file was addedtest/lon_dynamics_binary_log_test.cpp
The file was modifiedCMakeLists.txt
The file was addeddata/lon_dynamics_binary_logger.cpp
The file was addeddata/lon_dynamics_binary_logger.hpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was addedscripts/lon_dynamics_bin_to_csv.py
Commit 8fc23da0299441ec01c6abf27c6fcbfc0b6d4a31 by liuhongshuo
feat: 控制器状态清空

Co-authored-by: Copilot <copilot@github.com>
The file was modified.gitignore
The file was addeddocs/progress.md
The file was modifieddata/config/cfg_static.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was addeddocs/task_plan.md
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
The file was addeddocs/findings.md
The file was modifiedscripts/lon_dynamics_bin_to_csv.py
The file was modifiedtest/lon_dynamics_binary_log_test.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/lon_dynamics_binary_logger.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
The file was modifiedtest/CMakeLists.txt
The file was addedtest/accel_to_pedal_converter_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifieddata/config/cfg_static.cpp
The file was addedtest/truck_lon_dynamic_mpc_dispatch_test.cpp
The file was modifieddata/lon_dynamics_binary_logger.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
Commit 808650d279cb2d41240017e1b43cd89a3db625e1 by liuhongshuo
feat: 考虑弯道阻力系数
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifieddata/config/cfg_mass_estimation.hpp
The file was modifieddata/lon_dynamics_binary_logger.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/lon_dynamics_binary_logger.cpp
The file was modifiedconfig/config_sc/ctrl.yaml
The file was modifiednode/process/prepare/prepare_state.cpp
The file was modifiedscripts/lon_dynamics_bin_to_csv.py
The file was modifiedconfig/config_imv/ctrl.yaml
Commit a088c6497961d535b556c297e4287f883fe36501 by liuhongshuo
feat: 弯道阻力处理优化 反向作业对准适配

Co-authored-by: Copilot <copilot@github.com>
The file was modifieddata/lon_dynamics_binary_logger.cpp
The file was modifiedtest/lon_dynamics_binary_log_test.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedtest/accel_to_pedal_converter_test.cpp
The file was modifieddata/config/cfg_mass_estimation.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifieddata/config/cfg_mass_estimation.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hpp
The file was modifieddata/lon_dynamics_binary_logger.hpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedtest/truck_lon_dynamic_mpc_dispatch_test.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedscripts/lon_dynamics_bin_to_csv.py
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 59e9b433c164594372c7090203ca62307502effd by liuhongshuo
feat: truck的平行驾驶使用mpc纵向控制

Co-authored-by: Copilot <copilot@github.com>
The file was modifiedconfig/config_sc/ctrl.yaml
The file was removedalgorithm/ctrl/parallel_controller/fpid_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifieddata/config/cfg_parallel.hpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedtest/controller_minimal_red_test.cpp
The file was removedalgorithm/ctrl/parallel_controller/fpid_controller.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifieddata/config/cfg_parallel.cpp
Commit f02c93d67a826b644223fcff9c3c357fa1e38cc8 by liuhongshuo
feat: log

Co-authored-by: Copilot <copilot@github.com>
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
Commit 146f679815bc03a35709f2af3d2468309e0b90a0 by liuhongshuo
fix: 日志log改回csv

Co-authored-by: Copilot <copilot@github.com>
The file was modifiedCMakeLists.txt
The file was removeddata/lon_dynamics_binary_logger.hpp
The file was addedtest/lon_dynamics_csv_log_test.cpp
The file was addeddata/lon_dynamics_csv_logger.hpp
The file was removedscripts/lon_dynamics_bin_to_csv.py
The file was addeddata/lon_dynamics_csv_logger.cpp
The file was modifiedtest/CMakeLists.txt
The file was removedtest/lon_dynamics_binary_log_test.cpp
The file was modifieddata/ctrl_frame.cpp
The file was removeddata/lon_dynamics_binary_logger.cpp
Commit 9dcbbcae08bbae54bbe61235e6d1710d9e0b678c by liuhongshuo
fix: wrls质量初始化
The file was modifieddata/ctrl/vehicle_attr.cpp
Commit 7ad52293228254aa3c9470982a700c225b93cd45 by liuhongshuo
feat: log记录跨天问题 辅助起步问题 非线性通用性问题
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
The file was modifiedcommon/log/log_config.hpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiedcommon/log/log_config.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedtest/CMakeLists.txt
Commit 6f0b69117052238cc2df7936efff8611fd51c3de by liuhongshuo
fix: log日志使用修改
The file was modifiednode/main.cpp
The file was modifiedcommon/log/log_config.cpp
The file was modifiedcommon/log/log_config.hpp
Commit 621e18db0b18e2ceb9c274649fa3686635ede84f by liuhongshuo
feat: SC自转适配 && SC对准控制器优化
The file was modifiedalgorithm/ctrl/observer/trailer_angle_observer.cpp
The file was modifieddata/plan/plan_data.hpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/plan/plan_data.cpp
The file was modifiedtest/controller_minimal_red_test.cpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_observer.hpp
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.hpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifieddata/vehicle/vehicle_chassis.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.cpp
The file was modifieddata/ctrl/lateral_cmd.cpp
The file was modifieddata/vehicle/vehicle_chassis.hpp
The file was removedalgorithm/ctrl/lon_controller/sc_align_utils.hpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/ctrl/lateral_cmd.hpp
The file was modifiednode/sink/ros_sink_command.cpp
Commit 010aa5928ff86218afd418e08e289052c1db62e2 by liuhongshuo
feat: 重载对准停车设定单独参数
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
Commit 0741869b08f0da8bf53f46cb42273f52abb9ce7c by liuhongshuo
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
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
The file was removedalgorithm/util/quintic_step_trajectory.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedtest/controller_minimal_red_test.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp
The file was removedalgorithm/util/quintic_step_trajectory.hpp
Commit 8461e0239c7cf59ad5bae4c6c41442c89964cf00 by liuhongshuo
feat: 起步辅助
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.hpp
The file was modifieddata/ctrl/velocity_cmd.cpp
The file was modifieddata/ctrl/velocity_cmd.hpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedtest/lon_dynamics_csv_log_test.cpp
Commit 1113108e4dcbead838190d9967b898c5d8263096 by liuhongshuo
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
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiednode/process/prepare/prepare_state.cpp
Commit 61031d124535ea1ec13d8533d729ff508909c64d by liuhongshuo
fix: 重载刹车非线性接口应为踏板开度
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
Commit 657b54465610224ad6b8d7eeed6422065c5a1db9 by liuhongshuo
fix: 坡度限幅放在滤波器的输入端
The file was modifieddata/vehicle/vehicle_state.cpp
Commit 5f140b54963e9764a4712548897c5692baff9c3e by liuhongshuo
feat：重载单独设定刹车gain
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
Commit 1836a20773dc8c04d3527cc01cac3a30c241d77f by liuhongshuo
feat: 重载时增大纵向mpo减速度变化量
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
Commit 36d5e2c034164be5b478ae5e2469b88a256a86a8 by liuhongshuo
feat: 对准刹超时增大刹车
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 191df70c8b66e49b195bd03f632fc47847491e95 by liuhongshuo
fix：速度误差计算方式修改
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
Commit ddebb2c2956281df7fcdba9d3349562731de81a5 by liuhongshuo
fix: kappa direciton for SC
The file was modifiednode/process/prepare/prepare_traj.cpp
Commit 59b6cc948c1de15b567fd4fc12825bf71c7fba29 by liuhongshuo
feat: SC车型对准和步进优化
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiedtest/controller_minimal_red_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.cpp
Commit 4ec13716a5533cbb8085d41611c2cb0e24f1cd5d by liuhongshuo
feat: 增加原始pitch角度观测
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
Commit 00f70ddff9c9e5db18b52fc4aa338822a1f6a5aa by liuhongshuo
feat: SC车型适配倒车
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
Commit 60cdce1c5418f7c882f16cca9121503ee6e705eb by liuhongshuo
feat: sc 和 imv的move step修正
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp
Commit 7cc625a4148974386d026d6a4377881f08cf45f6 by liuhongshuo
feat: 增加速度IMV观测
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
Commit 07499259dc3a5e961629b85e5850cd0cde2434cf by liuhongshuo
feat: 对齐速度IMV纵向控制
The file was modifiedalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
Commit f78b6e2af86e7d1d993cbb68ba42ca24e3e423da by liuhongshuo
feat: 低速停车距离优化
The file was modifiednode/process/prepare/prepare_attr.hpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
Commit b7f69bd5c50ddefd4e06f54706cf73185a13f545 by liuhongshuo
feat: 控制日志记录重构 纵向mpc增加热启动关闭polish
The file was modifiednode/logic.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was removedalgorithm/ctrl/lon_controller/imv_lon_log_helper.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/config/cfg_parallel.hpp
The file was addedcommon/log/async_log_writer.hpp
The file was addedcommon/log/async_log_writer.cpp
The file was modifieddata/ctrl_frame.cpp
The file was addedalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.hpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was addedcommon/log/spsc_ring_buffer.hpp
The file was removedalgorithm/ctrl/lon_controller/truck_lon_log_helper.hpp
The file was addedcommon/log/log_channel.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was removedalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.hpp
The file was addeddata/config/cfg_log.cpp
The file was removedalgorithm/ctrl/lon_controller/imv_lon_log_helper.hpp
The file was addedcommon/log/csv_row_builder.hpp
The file was addeddata/config/cfg_log.hpp
The file was modifiednode/process/proc/proc_move_step_controller.cpp
The file was modifieddata/config/cfg_parallel.cpp
The file was modifieddata/ctrl/longitude_ctrl_debug_data.hpp
The file was modifieddata/ctrl_frame.hpp
The file was modifiedcommon/CMakeLists.txt
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.hpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hpp
The file was addedcommon/log/log_channel.hpp
The file was addedalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hpp
Commit 16edb1307eef7d30b115c41d9bae87e00bef8761 by liuhongshuo
feat: 放宽阈值
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
Commit 1036119bd8e46ff3e7e6b545a0c2fd2ba557ef79 by liuhongshuo
fix: 日志记录地址更改 persistent_solver更改
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
The file was removedtest/lon_dynamics_csv_log_test.cpp
The file was modifiedcommon/log/log_channel.hpp
The file was modifiedtest/CMakeLists.txt
The file was modifiedcommon/log/async_log_writer.cpp
The file was modifiednode/logic.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hpp
The file was modifiedcommon/log/async_log_writer.hpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
Commit 825e8cadf26ab773e82286f438170bad83ac5523 by liuhongshuo
feat: 对准日志记录分割
The file was modifiedcommon/log/log_channel.hpp
The file was modifieddata/ctrl_frame.hpp
The file was modifiedcommon/log/async_log_writer.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedcommon/log/log_channel.cpp
Commit 526490e36ef0e42da0f63e208bca09f7b68e377e by liuhongshuo
feat: 更改日志
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifieddata/ctrl/observer_debug_data.cpp
Commit c5fb4abc8945e0cda7c1444fbd62443e1723220d by liuhongshuo
feat: 小速度停车距离预估调整
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/config/cfg_log.cpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifieddata/config/cfg_parking_distance.hpp
The file was modifiedmath/identification/parking_distance_estimator.hpp
The file was modifieddata/config/cfg_parking_distance.cpp
The file was modifiednode/logic.cpp
Commit f2d7bf06fcddb4e3183488676e76e6401dcbd55e by liuhongshuo
fix: 停车距离预估除0风险
The file was modifiedmath/identification/parking_distance_estimator.cpp
Commit ffd3f64743d23b5e47ac96cea72192db17655b61 by liuhongshuo
feat: 调整安全逻辑
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
Commit ab4f28720170f1bdc0956db88dff1e9001fc5205 by liuhongshuo
feat: 求解超时软约束
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
Commit 1b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb5 by liuhongshuo
feat: 增加底层默认空载或重载的制动链路
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
The file was modifiedtest/accel_to_pedal_converter_test.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/config/cfg_static.cpp
Commit 3b6cb7ca7303b2565cfdb8b9a56ea08967ab1b46 by liuhongshuo
feat：参数读取兼容旧版本
The file was modifieddata/config/cfg_static.cpp
Commit 2c13544ec9851d593955d9ce97616a5b98ea0d8a by liuhongshuo
feat: 平行/摇控错误详细日志
The file was modifiednode/source/ros_source_parallel_cmd.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiednode/source/ros_source_remote_cmd.cpp
Commit 58a88a828b5adcffa261bec3fb5f527db69346e8 by liuhongshuo
fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复
The file was modifiedalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
Commit afbd16d6aacda444508f4f3492b49bff8d41f9ff by liuhongshuo
feat: 纵向mpc适配仿真
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
Commit 57d7ccd1fa79d4f2f9ba1d288dd2249418139535 by liuhongshuo
feat: 任何停车后都reset纵向控制器
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpp
The file was modifiednode/source/ros_source_parallel_cmd.cpp
The file was modifiednode/source/ros_source_remote_cmd.cpp
Commit dab69864c612b84910939f860810f14a4e9bd7e9 by liuhongshuo
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
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiednode/process/proc/proc_limit.cpp
The file was modifieddata/vehicle/vehicle_command.cpp
Commit cc2804b12ccfc2faf86b65000a26298b511e8c4e by liuhongshuo
fix: 静止状态处理
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
Commit 6bbd4b84939e3e01b8b32d7409633fdac1beb988 by liuhongshuo
fix: 重置mpc控制器处理优化
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
Commit 565460cdf3079a19d6a3e73e0956634319550051 by liuhongshuo
fix： 不在emergency stop过程中重置
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
Commit c22027471cb2519f887a4e3d2ba1e67a9f44dc96 by liuhongshuo
feat：平行驾驶无油门制动参数化
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifiedconfig/config_imv/ctrl.yaml
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_creep.hpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiedconfig/config_sc/ctrl.yaml
Commit 464d5dafadb306745af21ff8b4499de969db5a0b by liuhongshuo
feat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifieddata/ctrl/observer_debug_data.hpp
The file was addeddocs/startup_traction_control_review.md
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiedtest/accel_to_pedal_converter_test.cpp
Commit bd822e5d2f454af7541041916795ca862519e3a2 by liuhongshuo
feat: 平行驾驶补偿
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiednode/process/prepare/prepare_state.cpp
Commit 9c94ea13a42554c9b248d3986a09d99d848e3dce by liuhongshuo
feat: imv零偏补偿尝试
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifieddata/ctrl/lateral_cmd.cpp
The file was modifieddata/ctrl/lateral_cmd.hpp
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was modifiednode/process/proc/module.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was added"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiedtest/CMakeLists.txt
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
Commit aa33cc3f05fb294dac4da49d3566df9de6a93fae by liuhongshuo
feat: 底层反馈转向角适配零偏
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
Commit 0241a9f93d923636a3a033479365abb117202921 by liuhongshuo
feat: IMV零偏双模态学习
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
Commit b7e550761649890d1309cb420994410d8ff4799b by liuhongshuo
Revert "feat: imv零偏补偿尝试"

This reverts commit 9c94ea13a42554c9b248d3986a09d99d848e3dce.
The file was modifieddata/ctrl/lateral_cmd.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was removed"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"
The file was modifiedtest/CMakeLists.txt
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/ctrl/lateral_cmd.hpp
The file was modifiednode/process/proc/module.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
Commit 11c839d831dd6497cffe9d36fd751756de9b175d by liuhongshuo
feat: 溜车防护 取消任务时制动防护
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.cpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiednode/process/proc/proc_move_step_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifieddata/config/cfg_safe_const.hpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_creep_controller.cpp
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifieddata/config/cfg_safe_const.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
The file was modifieddata/ctrl/creep_data.hpp
The file was modifiedconfig/config_sc/ctrl.yaml
The file was modifiednode/process/prepare/prepare_status.cpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/vehicle/vehicle_status.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
Commit e82f625b8d5aeef068dcb7d840a6f413ec307c1f by liuhongshuo
fix： 只在给油门的时候检测溜车
The file was modifiednode/process/prepare/prepare_status.cpp
Commit 5bed5c5fd899dc198092199398963c346265518b by liuhongshuo
feat: 起步辅助时的质量不低于初始质量
The file was modifiedAGENTS.md
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
Commit 0e592465f659bdf54420b996936bf8fa72e1d3a5 by liuhongshuo
feat: 增加横向控制日志
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/ctrl/lateral_cmd.hpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiednode/logic.cpp
Commit cadd8b326ee803d159997a4b6d79ab1837bbd66a by liuhongshuo
feat: 增加IMV运动学校验观测
The file was modifieddata/ctrl_frame.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifiednode/process/prepare/prepare_attr.hpp
The file was modifieddata/config/cfg_static.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifiedalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was addedmath/identification/lateral_kinematics_estimator.cpp
The file was addedmath/identification/lateral_kinematics_estimator.hpp
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/ctrl_frame.hpp
Commit 38d157c44b39a645fe0e93a024a5f3ce8342315c by liuhongshuo
feat: 挡位保护
The file was modifieddata/config/cfg_dynamic.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp
The file was modifieddata/config/cfg_dynamic.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
Commit ec6bb5c3c894505e00848aca8f35c611479d0ee4 by liuhongshuo
feat: 实际运动轴距辨识扩展到truck
The file was modifieddata/config/cfg_static.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifiedmath/identification/lateral_kinematics_estimator.hpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
The file was modifiednode/process/prepare/prepare_attr.hpp
The file was modifiedmath/identification/lateral_kinematics_estimator.cpp
The file was modifiednode/process/prepare/prepare_attr.cpp
Commit 1e0ccd33b7e045107cb050f4848a2cf808472b25 by liuhongshuo
feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿
The file was modifiedalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hpp
The file was addedCLAUDE.md
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cpp
The file was modifieddata/config/cfg_static.cpp
Commit 08dc5e0676591ff98c59f3bbca5af6f75ec1c962 by liuhongshuo
feat: 过滤小制动
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiednode/process/proc/proc_limit.cpp
Commit bbd39b07403c1327fde05982facfc3f06fd70046 by liuhongshuo
fix: 初始参数配置为0
The file was modifieddata/config/cfg_proc_longctrl.cpp
Commit cd71a1e0ec24a911d8ccb1e6448fadfb20dc3982 by liuhongshuo
feat: 停车距离预估的motion less靠控制自己判断
The file was modifiednode/process/prepare/prepare_attr.cpp
Commit 51c1e1961b8083fd009ad01e35bd80775343176c by liuhongshuo
feat: 起步防滑与坡道起步优化
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedconfig/config_sc/ctrl.yaml
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifieddata/ctrl/velocity_cmd.hpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/ctrl/velocity_cmd.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifiedconfig/config_imv/ctrl.yaml
The file was modifieddata/config/cfg_proc_longctrl.hpp
Commit 2b92bade6ec7844f7261950678151e70a2cf2d68 by liuhongshuo
fix:根据质量进行制动补偿功能比例定义错误修正
The file was modifiedtest/accel_to_pedal_converter_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
Commit 85b4c0fcbb289743b53409770a2af8a8ef5dd5fb by liuhongshuo
feat: 增加park adjust下对准停车功能
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.hpp
The file was modifiednode/process/prepare/prepare_attr.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/vehicle/vehicle_status.hpp
The file was modifieddata/vehicle/vehicle_status.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedmath/identification/parking_distance_estimator.cpp
The file was modifiedmath/identification/parking_distance_estimator.hpp
The file was modifieddata/ctrl_frame.cpp
Commit 9bf44e248ab81a727da8630a453a09e17ac405a7 by liuhongshuo
fix : sc 远程步进修复
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
Commit 569fa54140733fd0691aa63b9cd5da5b5ae678d4 by liuhongshuo
feat: 控制日志打印版本信息
The file was modifiedalgorithm/ctrl/lon_controller/sc_creep_controller.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiednode/main.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
Commit 010c56f70b6099af54cb24e4a34759409e61df22 by liuhongshuo
feat: park adjust停车允许5cm越冲
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit a07109ba77c415dad324a12de9671993915fbcfa by liuhongshuo
feat: 支持双向步进振箱
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/config/cfg_creep.hpp
Commit c220dba36dfecb775104176ee16bdc362cb4d4b6 by liuhongshuo
feat: 防滑错误码上传
The file was modifiedAGENTS.md
The file was modifiedcommon/util/error_code_data.hpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/config/cfg_error.hpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifieddata/config/cfg_error.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifiednode/sink/module.cpp
The file was modifiedcommon/util/error_code_data.cpp
The file was modifiednode/sink/ros_sink_error_info_ctrl.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiednode/sink/ros_sink_record_trigger.cpp
Commit fdc7242fad0f04ee6469f2ac320999bda74e40eb by liuhongshuo
fix: 防滑报警默认关闭
The file was modifieddata/config/cfg_proc_longctrl.cpp
Commit 9e3e6b1b2af956dd33bd844206a2d19bce82971b by liuhongshuo
feat: 转弯积分补偿
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifieddata/ctrl/velocity_cmd.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/ctrl/velocity_cmd.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
Commit 097da880b8f2328165b2fd6da04fd3211057bf31 by liuhongshuo
fix: 起步防滑不报错问题修复
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifiedalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
Commit f4ae7fb97a4fb8dde5af92f927ab28a2b661278b by liuhongshuo
feat: 急停的正确清空
The file was modifieddata/ctrl_frame.cpp
The file was modifiednode/process/proc/proc_move_step_controller.cpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiednode/source/ros_source_parallel_cmd.cpp
The file was modifiednode/source/ros_source_remote_cmd.cpp
The file was modifiedalgorithm/ctrl/parallel_controller/parallel_controller.cpp
The file was modifieddata/vehicle/vehicle_command.cpp
The file was modifieddata/vehicle/vehicle_command.hpp
Commit 7de79cd8aa28d2bee27f620b762f657dd4973ede by liuhongshuo
feat: 只保留ee的机械急停
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.cpp
Commit f794cd9d1706cdb27c2446a304d48032c1d8bc32 by liuhongshuo
feat: 振箱策略更改
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifiedtest/controller_minimal_red_test.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.hpp
Commit 910a649914dc3515f51b8a11050ac9c0ecc53953 by chenran
fix: add trailer_angle_compensation
The file was modifieddata/config/cfg_static.hpp
The file was modifieddata/vehicle/trailer_posture.cpp
The file was modifieddata/config/cfg_static.cpp
Commit 14371a5b3b57af39f79810d2b036549968786ea7 by liuhongshuo
feat: 步进模式下传给mpc的参考速度序列修正
The file was modifiednode/process/proc/proc_move_step_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit b0f8d76bff9bbb19bbeb318422d46e9553383add by chenran
fix: trailer angle compensation
The file was modifieddata/vehicle/trailer_posture.cpp
The file was modifiednode/process/prepare/prepare_traj.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
Commit 98fbc0e229dee40569f7e2c77db56dfd81cdcda7 by 5081703.cr
feat: steering latency compensation for reversing truck controller
The file was addedalgorithm/util/steer_latency_estimator.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was addedalgorithm/util/steer_latency_estimator.cpp
The file was addedtest/steer_latency_estimator_test.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was addedscripts/trailer_angle_compensation_identify.py
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiedconfig/config_imv/ctrl.yaml
The file was added1
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedconfig/config_car/ctrl.yaml
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was modifiedconfig/config_sc/ctrl.yaml
The file was modifiedtest/CMakeLists.txt
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
The file was modifieddata/config/cfg_mpc_qp.cpp
Commit 1fd102d3c5df605c12e2ebe750772a7150a2587b by chenran
fix: steering delay identification
The file was modifiedconfig/config_truck/ctrl.yaml
The file was addedscripts/steering_delay_identify.py
Commit e1c54ece7cb7be8b767adb7b4bac62507bd86404 by chenran
fix: record debug data
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
The file was addedscripts/record_reversing_tuning.sh
Commit e4bcbd5e760d22d3f3b3be39e10a19c387b4a7ea by chenran
fix: steering latency compensation optimizaiton
The file was modified.gitignore
The file was modifiedscripts/record_reversing_tuning.sh
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
Commit 95b44b0683cde2c206bcb623b935c1b543df6eb2 by liuhongshuo
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
The file was modifiedalgorithm/ctrl/lat_controller/truck_augment_mpc.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
The file was modifieddata/ctrl/lateral_ctrl_debug_data.hpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifieddata/ctrl/lateral_ctrl_debug_data.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp
The file was addeddata/ctrl/lat_mpc_debug_snapshot.hpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifieddata/ctrl_frame.cpp
Commit 5c056ad3aea23ce67a66cdbbb4d49d33049a6f25 by liuhongshuo
feat: 将减速度标定质量独立
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedtest/accel_to_pedal_converter_test.cpp
The file was modifieddata/config/cfg_static.hpp
Commit a66e556979e757a3ae74f9e4ebce30211c574d79 by chenran
fix: trailer angle bug
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was modifieddata/vehicle/trailer_state.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifieddata/config/cfg_mpc_qp.cpp
Commit 6534e8a1ade78a27cf7afb8b4fbd4eb26b84436c by liuhongshuo
feat: SC车型新增横向平移和自转功能
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was modifiednode/process/prepare/prepare_creep.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiednode/process/proc/proc_move_step_controller.cpp
The file was addedalgorithm/ctrl/lon_controller/sc_rotation_controller.hpp
The file was modifiedtest/controller_minimal_red_test.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifiednode/process/proc/proc_move_step_controller.hpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifieddata/config/cfg_creep.hpp
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifiednode/sink/ros_sink_command.cpp
The file was modifiednode/sink/ros_sink_command.hpp
The file was modifieddata/plan/plan_data.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifieddata/plan/plan_data.hpp
The file was addedalgorithm/ctrl/lon_controller/sc_rotation_controller.cpp
Commit 9df154e555b5f6b7456e440e199744897a7696c5 by liuhongshuo
fix: 起步阶段不再强制变更使用质量
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
Commit 6f7098be72e39fcdda229bc787df356c6ce0805c by chenran
fix: add trailer_angle_replay_ekf
The file was modifieddata/vehicle/trailer_state.hpp
The file was addedscripts/trailer_wheelbase_raw_fit.py
The file was removedalgorithm/ctrl/observer/trailer_angle_observer.hpp
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was modifiedscripts/record_reversing_tuning.sh
The file was modifieddata/vehicle/trailer_state.cpp
The file was addedalgorithm/ctrl/observer/trailer_angle_estimator.hpp
The file was addedalgorithm/ctrl/observer/trailer_angle_smith_predictor.hpp
The file was addedalgorithm/ctrl/observer/trailer_angle_replay_ekf.cpp
The file was modifiednode/logic.cpp
The file was addedalgorithm/ctrl/observer/trailer_angle_smith_predictor.cpp
The file was addeddata/config/cfg_estimator.hpp
The file was addedalgorithm/ctrl/observer/trailer_angle_replay_ekf.hpp
The file was modifiednode/process/prepare/prepare_state.hpp
The file was addedscripts/trailer_angle_estimator_offline_test.py
The file was addedscripts/trailer_wheelbase_estimate.py
The file was removedalgorithm/ctrl/observer/trailer_angle_observer.cpp
The file was addeddata/config/cfg_estimator.cpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was modifiednode/process/prepare/prepare_state.cpp
Commit 6801a2c3848d1ec3572cf601552ed6b7244a160a by liuhongshuo
feat: 底盘为空时认为静止
The file was modifiednode/sink/ros_sink_command.cpp
Commit 124326ae01e4d4b7d2d767f65df25cd2e5235cae by liuhongshuo
fix: SC模式切换保护
The file was modifiednode/sink/ros_sink_command.cpp
Commit d3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d1 by liuhongshuo
feat: SC横移模式指令值更改
The file was modifiednode/process/proc/proc_move_step_controller.cpp
Commit a53c2f1059876cc5d0474ce4cfecd902333bb61a by chenran
fix: add speed governor
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiednode/process/prepare/prepare_state.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_replay_ekf.hpp
The file was modifiedscripts/record_reversing_tuning.sh
The file was modifieddata/config/cfg_estimator.cpp
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_estimator.hpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_replay_ekf.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp
The file was addedalgorithm/ctrl/lon_controller/reversing_speed_governor.cpp
The file was addedalgorithm/ctrl/lon_controller/reversing_speed_governor.hpp
The file was addedscripts/reversing_tuning_2026-07-14-17-36-37_0.bag
The file was addedscripts/steer_rate_identify.py
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/vehicle/trailer_state.hpp
The file was modifiednode/process/proc/proc_longitude_controller.hpp
Commit a1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25e by chenran
fix: update config
The file was modifiedconfig/config_truck/ctrl.yaml
Commit 2819dab08ee479e0201d1aed1680aa2be9246c65 by chenran
fix: auto recording script
The file was addedscripts/record_reversing_tuning_auto.py
The file was modifiedscripts/record_reversing_tuning.sh
Commit 4038141f709b3b3e83e0bfb66db5e9cd9cb16a70 by chenran
fix: ignore bag files
The file was modified.gitignore
The file was removedscripts/reversing_tuning_2026-07-14-17-36-37_0.bag
Commit b1beaecb1ca219abbf2c89ef822d64e094ce9271 by chenran
fix: wire steer into mpc_solver
The file was modified.gitignore
The file was modifiedscripts/record_reversing_tuning_auto.py
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
Commit 99aa91653de1a39900d7dbd1575428d8f1c6ac15 by liuhongshuo
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
The file was modifiedcommon/util/error_code_data.hpp
The file was modifiedcommon/util/error_code_data.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddata/config/cfg_error.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifieddata/config/cfg_error.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
Commit a65074757d10b414c4eaf171bd3a567e71f302ed by chenran
fix: add trailer angle comp calibrator
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
The file was modifiednode/process/prepare/prepare_traj.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_static.hpp
The file was addedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifiednode/logic.cpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was addedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifieddata/config/cfg_estimator.cpp
Commit f2cf046433f383df82ac73ef7465882b5e4af3d0 by chenran
fix: update debug message
The file was modifiedscripts/record_reversing_tuning_auto.py
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifiedscripts/record_reversing_tuning.sh
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
Commit bf75a5f41e149319bc0641c71022dce6c3e1d261 by chenran
fix: update config
The file was modifieddata/config/cfg_estimator.hpp
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifieddata/config/cfg_estimator.cpp
Commit d8346a561beab1e16bcdc7db5de1dfb0052cebea by chenran
fix: calib bug
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifieddata/config/cfg_estimator.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifieddata/config/cfg_estimator.hpp
Commit 39ab21eb0b2f80f2bac76ec8bbfa9dc08b517576 by 5081703.cr
fix: update params

The file was modifieddata/config/cfg_estimator.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_estimator.hpp
Commit 90e42e33b20e28f38ff59ed51e0712967612a048 by chenran
fix: add startup_blank_s
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifieddata/config/cfg_estimator.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
Commit 390447bdd6b2984c81967581a0ddb28675f01650 by chenran
fix: trailer_angle_comp opt
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifiedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifieddata/config/cfg_estimator.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
Commit bcdaee342f0b1da318246caad3a3071ee85582d5 by liuhongshuo
feat: 转向补偿超限报警 单边停车质量补偿
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp
The file was modifieddata/config/cfg_static.hpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifieddata/config/cfg_steering_offset_observer.cpp
The file was modifieddata/config/cfg_static.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifieddata/config/cfg_steering_offset_observer.hpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
Commit 3f82d685beabf540889d45c6432c56a7a34ac474 by liuhongshuo
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
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.cpp
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
Commit e4873c663b5762670fea9c8d87cc795fa7fd93e7 by liuhongshuo
feat: SC车型运动方向固定 增加每个轮子角度的观测
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifieddata/config/cfg_creep.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedtest/controller_minimal_red_test.cpp
The file was modifiednode/process/prepare/prepare_creep.cpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifieddata/config/cfg_creep.hpp
Commit d8fdaa567faea3dfe934bea7a08d5a46d33a12b3 by liuhongshuo
fix: 提前停车功能反向前进处理
The file was modifieddata/ctrl/longctrl_data.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.cpp
The file was modifieddata/ctrl/longctrl_data.hpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifieddata/ctrl/observer_debug_data.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
Commit 5181def0cc248e6394d1271fcded403de4dbb96d by liuhongshuo
fix: emergency_brake的正确记录
The file was modifieddata/ctrl_frame.cpp
Commit 5859981114a107f794b7e84e7b53a5b824f5c2ff by liuhongshuo
feat: 优化转向灯逻辑
The file was modifiednode/process/proc/proc_assist.cpp
Commit 619b0f25fbc0f815443400660b3313cdd14d368c by liuhongshuo
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
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was removedtest/controller_minimal_red_test.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifieddata/ctrl/longitude_ctrl_debug_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifiedtest/CMakeLists.txt
The file was modifiedalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cpp
Commit 24f3f0756fa9f0c093f04752ff2b0456a4c95bcb by liuhongshuo
feat: SC步进横移bug
The file was modifiednode/process/prepare/prepare_creep.cpp
Commit c5d564ce2688fadaff079def5859974d0d954c3b by liuhongshuo
feat: estop函数积分保护失效的bug
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 1927a9895e4c32ed5edea82fc5636c8730b16f51 by liuhongshuo
feat: 急停使用的FollowCtrlDcc函数积分优化
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
Commit 4c5520c159f2ea3df98b7242f288174f68598718 by liuhongshuo
feat: truck 横向变步长mpc
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifieddata/ctrl/lat_mpc_debug_snapshot.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was addedalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was addedalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hpp
The file was removedalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was addedalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cpp
The file was addedalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp
The file was removedalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
Commit b7cd2cf88402037855d918a02115962b9ee43992 by liuhongshuo
feat: IMV零偏补偿航向学习错误
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifiednode/process/prepare/prepare_state.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
Commit 58ba4a4224fe5043c2dca006e034a204a61de545 by liuhongshuo
feat: IMV零偏补偿航向学习错误
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifiednode/process/prepare/prepare_state.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedalgorithm/ctrl/observer/steering_offset_observer.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
Commit 2737676a5ed99a956b9c351ccb97d3d9dea13a85 by chenran
fix: reject inconsistent rotation direction
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was addedalgorithm/ctrl/lat_controller/rotation_control_logic.hpp
The file was addedtest/rotation_control_logic_test.cpp
The file was addedtest/augment_mpc_rotation_control_test.cpp
The file was modifiedtest/CMakeLists.txt
Commit ae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20b by chenran
fix(control): guard MPC during rotation command dropout
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
The file was modifiedtest/augment_mpc_rotation_control_test.cpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiedtest/CMakeLists.txt
Commit b72d6f747d9460cb2b0df84cb9533733a9252bef by 5081703.cr
fix(control): guard MPC during rotation command dropout
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiedtest/augment_mpc_rotation_control_test.cpp
Commit 3b449fb05c5b7d21836620ae9116992425f70f42 by liuhongshuo
feat: 转向积分补偿释放参数配置化
The file was modifieddata/config/cfg_lon_dynamic_mpc.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
Commit 6930425329e70d8e2226634e5cf85c296d589340 by liuhongshuo
feat: 变时域横向控制器优化调整
The file was modifiedalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp
The file was modifieddata/config/cfg_mpc_qp.hpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cpp
Commit 2c14365ecd44d0b0756caf9a4d8271e2bf8ed661 by liuhongshuo
feat：纵向控制器记录消耗时间
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp
The file was modifieddata/ctrl/lateral_ctrl_debug_data.hpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifieddata/ctrl/lat_mpc_debug_snapshot.hpp
The file was modifieddata/ctrl/lateral_ctrl_debug_data.cpp
The file was modifieddata/ctrl_frame.cpp
Commit c99e7023c1f54da56525a681048b294e33bef2be by liuhongshuo
feat:IMV 横向控制增加考虑延迟的控制器
The file was modifiedalgorithm/ctrl/lat_controller/augment_mpc.cpp
The file was modifieddata/config/cfg_mpc_qp.cpp
The file was addedalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cpp
The file was addedalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cpp
The file was modifieddata/ctrl/lat_mpc_debug_snapshot.hpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifiedcommon/util/thr_helper.hpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifieddata/config/cfg_mpc_qp.hpp
Commit 0cd819d881a85d8a750b32b2f01480a115a5805a by liuhongshuo
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
The file was modifieddata/vehicle/vehicle_state.hpp
The file was modifieddata/vehicle/vehicle_state.cpp
Commit d6788726061ce59bd35ba72b1e55b795538289a5 by liuhongshuo
feat: 加速度计算不考虑定位标志位
The file was modifieddata/vehicle/vehicle_state.cpp
The file was modifieddata/vehicle/vehicle_state.hpp
Commit 156250a2e7ada9a321c7cd15a992d98bae5850d7 by liuhongshuo
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
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cpp
The file was modifiedalgorithm/ctrl/lon_controller/imv_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifiedalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cpp
The file was modifiedalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.hpp
The file was modifiedalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cpp
The file was modifiedalgorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 8afc7758e9023e25873624546b763cb4a15e5c79 by liuhongshuo
feat: SafePreprocess 优化
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
Commit ec73467c27dccefb955c3a74b30f306c9c2a06f3 by liuhongshuo
feat: 对准和刹车时的减速度积分防护
The file was modifieddata/ctrl/creep_data.hpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.cpp
The file was modifieddata/ctrl_frame.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_creep_common.hpp
The file was modifiednode/process/proc/proc_move_step_controller.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp
The file was modifieddata/lon_dynamics_csv_logger.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpp
The file was modifiednode/process/proc/proc_longtiude_controller.cpp
The file was modifiedAGENTS.md
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp
The file was modifieddata/lon_dynamics_csv_logger.hpp
The file was modifiednode/process/proc/proc_longitude_controller.hpp
Commit c24e325c3ae5fa341e83b7105923424ec0644918 by liuhongshuo
fix: 转向补偿默认关闭
The file was modifieddata/config/cfg_lon_dynamic_mpc.cpp
Commit b2ad339b4232655d14c328cc123a059f03de80f8 by chenran
feat: add forward trailer bias estimator v2
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.hpp
The file was modifieddata/config/cfg_estimator.cpp
The file was modifiednode/process/proc/proc_lateral_controller.hpp
The file was modifieddata/config/cfg_static.hpp
The file was modifiedalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp
The file was addedalgorithm/ctrl/observer/forward_trailer_bias_estimator.cpp
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiednode/logic.cpp
The file was modifieddata/config/cfg_log.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was removedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp
The file was modifiedtest/CMakeLists.txt
The file was removedalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hpp
The file was modifieddata/config/cfg_log.hpp
The file was addedalgorithm/ctrl/observer/forward_trailer_bias_estimator.hpp
The file was addedtest/forward_trailer_bias_estimator_test.cpp
Commit 5f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf99 by chenran
refactor(control): simplify trailer bias validation
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiedtest/forward_trailer_bias_estimator_test.cpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiedalgorithm/ctrl/observer/forward_trailer_bias_estimator.cpp
The file was modifiedalgorithm/ctrl/observer/forward_trailer_bias_estimator.hpp
The file was modifieddata/config/cfg_estimator.cpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
Commit ad844f7e4b7fa0fb6f7848a0b6739a20c847ebfc by liuhongshuo
feat: 堆高机和步进提前停车
The file was modifieddata/config/cfg_proc_longctrl.cpp
The file was modifiedalgorithm/ctrl/lon_controller/truck_lon_controller.cpp
The file was modifieddata/config/cfg_proc_longctrl.hpp
The file was modifiednode/process/prepare/prepare_attr.cpp
Commit b713440355124783638400636683659be57d55f1 by chenran
feat(control): filter pre-stop trailer bias samples
The file was addedscripts/analyze_bias_stop_exclusion.py
The file was modifiedalgorithm/ctrl/observer/forward_trailer_bias_estimator.cpp
The file was modifiedalgorithm/ctrl/observer/forward_trailer_bias_estimator.hpp
The file was modifiednode/process/proc/proc_lateral_controller.cpp
The file was modifieddata/config/cfg_estimator.cpp
The file was modifieddata/config/cfg_estimator.hpp
The file was modifiedconfig/config_truck/ctrl.yaml
The file was modifiedtest/forward_trailer_bias_estimator_test.cpp
The file was addedscripts/plot_last_bias_estimator_boxes.py