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feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断 (
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Commit 1bd0449b5f8dcfa94fec6c7945fe60d974d9ad32 by
wuyanjun110
feat: 优化障碍物处理逻辑，简化多边形构建和碰撞判断
data/ssep/into_yard_junction_ec.cpp
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