Changes

Summary

1. fix: imv smooth mode bug. (details)
2. fix:修复可能崩溃的bug (details)
3. fix: crab_mode thr = 1.5 (details)
4. fix:修复可能崩溃的bug (details)
5. feat:没有横向优化器的时候，直接进行路径拼接 (details)
6. fix:修复可能崩溃的bug (details)
7. fix:修复可能崩溃的bug (details)
8. feat:没有横向优化器的时候，直接进行路径拼接 (details)

Commit 7efe4a68d5e5d894eff607c16a2057dad529238a by 5081703.cr fix: imv smooth mode bug.
	hmi/draw/draw_wbca_rlt.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
Commit 7393bbfd8ab7735206ae2349c2b8a0e2ed671e72 by wuyanjun110 fix:修复可能崩溃的bug
	data/common/path.cpp
Commit 3d9f08795dc28b2fb5d00da2f5efd04c7454ef24 by 5081703.cr fix: crab_mode thr = 1.5
	tasks/plan/path_optimization_task.cpp
Commit 6d23c117eedfd13cf26410f9f5a75b8dd2a5e24e by wuyanjun110 fix:修复可能崩溃的bug
	math/curve1d/quintic_polynomial_curve1d.cpp
	math/curve1d/quartic_polynomial_curve1d.cpp
	math/curve1d/quartic_polynomial_curve1d_rt.cpp
	math/curve1d/quintic_polynomial_curve1d_rt.cpp
Commit f5d4cc2d9dd3cd6ea144bf3c469827ac53f3febe by wuyanjun110 feat:没有横向优化器的时候，直接进行路径拼接
	scenarios/scenario.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	tasks/other_tasks/stitch_path_data_to_path.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	scenarios/scenario_interface.hpp
Commit efb407a3d39ee58ba3281f66c0a46a98b6f64493 by wuyanjun110 fix:修复可能崩溃的bug
	data/common/path.cpp
Commit 40ff29f916793ab6b9de5aa3823535ec0480e7ed by wuyanjun110 fix:修复可能崩溃的bug
	math/curve1d/quintic_polynomial_curve1d_rt.cpp
	math/curve1d/quintic_polynomial_curve1d.cpp
	math/curve1d/quartic_polynomial_curve1d_rt.cpp
	math/curve1d/quartic_polynomial_curve1d.cpp
Commit 6602d0f02d019818d34cb20c6879f2d1307e44ff by wuyanjun110 feat:没有横向优化器的时候，直接进行路径拼接
	tasks/other_tasks/stitch_path_data_to_path.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
	scenarios/scenario.cpp
	tasks/deciders/other_decider/replan_decider.cpp
	scenarios/scenario_interface.hpp