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Changes

Summary

  1. fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段 (details)
  2. perf: OGM精细碰撞采样点分级去重, 控制序列化体积 (details)
  3. fix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出 (details)
Commit 211ee4a470c1d5d83dafe07ea65bb65fef432a7d by wuyanjun110
fix: Align FSM超距退出3/4阶段时更新need_spreader_align_计数, 防止重回3阶段
The file was modifieddata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cpp
Commit 037d24ad730656b6b84ce85ecd9ff179d1e6286f by wuyanjun110
perf: OGM精细碰撞采样点分级去重, 控制序列化体积

精细碰撞开启时采样点不再全量保留:
- 引导线路径带(半径12m, 1m粗块掩码)内按1/4 cell子格去重,
  位置误差上界约3.5cm, 每cell至多16点
- 路径带外及无引导线时退化为每cell仅保留首点(等同旧抽稀密度)
- 栅格写入逻辑不变, 仅瘦身采样点集; 精细开关关闭时行为不变
- 顺手收拢龙须/上下层四处重复写入分支为AddPoint
The file was modifiedplan/prepare/prepare_ogm.cpp
The file was modifiedplan/prepare/prepare_ogm.hpp
Commit 50a557ba5ed0e80690bfb2284a4aed695e47745e by wuyanjun110
fix: Guardian锁站区域退出改为锚定车尾(带挂取挂车尾), 途径点单点前后扩展近似锁站区间, 防止车尾未过锁站障碍物提前退出
The file was modifieddata/vehicle/lock_station_data.cpp