Changes

Summary

1. feat:添加变道状态机状态 (details)
2. fix:修复park adjust  不切换 park lock的bug (details)
3. fix:参考线拼接的bug (details)
4. fix:出堆场口 随后动态搜索， ssep结果缓存的bug (details)
5. refactor:优化一次规划的显示 (details)
6. fix: imv smooth mode bug. (details)
7. fix:修复open space 提前搜索的问题。 (details)
8. fix:修复bulk out识别的bug (details)
9. feat:wbca 求解失败后， 不replan (details)
10. refactor:变道场景切换的bug (details)
11. fix:边界构建的bug (details)
12. feat:添加进堆场口通道的显示 (details)
13. feat:调整边界封锁逆行车辆左边的通道 (details)
14. feat:适配 imv 出停车位方向和一次规划方向不一致的场景 (details)
15. feat:适配苏溪集卡倒车 (details)
16. feat:更新西联停车位的约束 (details)
17. feat:更新西联停车位的约束 (details)
18. fix: imv smooth mode bug. (details)
19. feat:修复出堆场口 提前进入动态搜索的bug (details)
20. feat:反向进T场，搜索失败 (details)
21. fix: steering check for truck. (details)
22. fix: imv start_pt.heading in smooth mode. (details)
23. fix:pjpo标志位赋值的bug (details)
24. feat:出堆场口 约束调整 (details)
25. Revert "feat:添加变道状态机状态" (details)
26. fix: road_boundary bug. (details)
27. fix: crash issue. (details)
28. fix: imv crab mode for large curvature path. (details)

Commit 4e69c4ef695ddf42f5bdffef5cfdac72c72d0326 by wuyanjun110 feat:添加变道状态机状态
	sink/ros_sink_ads_hfsm_state.cpp
Commit c8fb6fd9e6f1b6014aea5d9682357e73aee48791 by wuyanjun110 fix:修复park adjust  不切换 park lock的bug
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/park_transition.cpp
Commit d96deb2e91de80104e3361d8cb7fc8a767be05ed by wuyanjun110 fix:参考线拼接的bug
	tasks/other_tasks/stitch_path_to_reference_line.hpp
	data/common/path.cpp
	tasks/other_tasks/stitch_path_to_reference_line.cpp
	data/common/path.hpp
Commit 9c6afa4fda19846409b544c0a272683ab3550ffd by wuyanjun110 fix:出堆场口 随后动态搜索， ssep结果缓存的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 8aa03175ba913dd73d3071388e74b72336eaad04 by wuyanjun110 refactor:优化一次规划的显示
	hmi/draw/draw_map.cpp
Commit b43760c4c5228f4f243ed75fc9eae2739cb75c47 by 5081703.cr fix: imv smooth mode bug.
	algorithm/wbca/imv_wbca_manager.cpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit a3b814a284b6dda4a7bf42f244c28fd468b72455 by wuyanjun110 fix:修复open space 提前搜索的问题。
	data/map/pnc_map/routing_extension/routing_data.cpp
Commit 40f41c128b30dedbc4204b35bfba720f39711560 by wuyanjun110 fix:修复bulk out识别的bug
	data/other/flow_control.cpp
Commit 380f8c156377f16f3daf74f6826a64815d083425 by wuyanjun110 feat:wbca 求解失败后， 不replan
	algorithm/wbca/wbca_manager.cpp
Commit 0a52116070e5c2e7042de144ff7910d021f69c4b by wuyanjun110 refactor:变道场景切换的bug
	scenarios/lane_change_scenario/lane_change_stage.cpp
	data/plan/switch_data.cpp
Commit 2dee8f63a20ad1198ab6e538e791aad4e55d5e4d by wuyanjun110 fix:边界构建的bug
	data/boundary/road_boundary.cpp
Commit 0345f9e6a43dd4c555aa7a2d76fbba4310632ddf by wuyanjun110 feat:添加进堆场口通道的显示
	hmi/draw/draw_map.cpp
Commit 2182f98e14346cc4429d4d9808f691687478ff3d by wuyanjun110 feat:调整边界封锁逆行车辆左边的通道
	data/boundary/driving_corridor.cpp
Commit 4f3a9a7a228e1cd954da4a93c2fb0d76f2d3acfa by wuyanjun110 feat:适配 imv 出停车位方向和一次规划方向不一致的场景
	data/app/fsm/task_fsm/task_fsm.cpp
	data/ssep/normal_junction_ec.hpp
	data/ssep/reverse_ec.hpp
	plan/prepare/prepare_state.cpp
	data/ssep/bridge_junction_ec.hpp
	data/ssep/into_yard_junction_ec.hpp
	scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
	data/config/cfg_func_sw.cpp
	data/ssep/field_junction_ec.hpp
	data/ssep/forward_ec.cpp
	data/ssep/out_yard_junction_ec.hpp
	data/other/flow_control.hpp
	plan/prepare/prepare_map_related.cpp
	data/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
	data/plan/guide_line.cpp
	data/other/flow_control.cpp
	data/vehicle/vehicle_destination.cpp
	data/vehicle/vehicle_destination.hpp
	tasks/deciders/long_decider/constrain_decider.cpp
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/ssep/forward_ec.hpp
	data/config/cfg_func_sw.hpp
Commit 005dd72a3dd646477eff734ddc928b68716aba14 by wuyanjun110 feat:适配苏溪集卡倒车
	data/ssep/reverse_ec.cpp
	scenarios/bulkload_scenario/bulkload_move_forward_stage.cpp
	plan/scenarios/prepare_scenario.cpp
	tasks/deciders/long_decider/constrain_decider.cpp
Commit 0ea4af4e738c750dc8dbeb4748e600ffc60389a8 by wuyanjun110 feat:更新西联停车位的约束
	data/config/cfg_ssep.cpp
Commit 5be312902e8377e52e56a0ec07ddb713ecb851c5 by wuyanjun110 feat:更新西联停车位的约束
	data/config/cfg_ssep.cpp
Commit 89e79c7290308e75449ebf0be535b42bd9f41bcf by 5081703.cr fix: imv smooth mode bug.
	algorithm/wbca/imv_wbca_manager.cpp
	data/boundary/road_boundary.cpp
Commit f3e7703f313e1158c38a030dcfc56f15f04be48f by wuyanjun110 feat:修复出堆场口 提前进入动态搜索的bug
	data/map/pnc_map/routing_extension/routing_data.cpp
	data/scenario/scenario_region_condition.cpp
Commit 386e5bfda11574b0df34c2e83d268d22893e7ed0 by wuyanjun110 feat:反向进T场，搜索失败
	data/ssep/into_yard_junction_ec.cpp
Commit 5831ec1cb8cbc49d3f335b7d8d7cd568fc739252 by 5081703.cr fix: steering check for truck.
	data/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp
Commit b1bc7ad5b8d5e527b0bf2561fd7a1446d7c12f64 by 5081703.cr fix: imv start_pt.heading in smooth mode.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
	data/plan/start_point_data.cpp
	data/wbca/wbca_data.hpp
Commit ee475975e089e3a2a4a544d13cc5ef9c35bac37d by wuyanjun110 fix:pjpo标志位赋值的bug
	scenarios/scenario.cpp
Commit dd50c27207229ab8cc960b74007960b1080170ca by wuyanjun110 feat:出堆场口 约束调整
	data/ssep/out_yard_junction_ec.cpp
Commit fb6e895185f1cf84a43d94ae45d03e15a79902f4 by wuyanjun110 Revert "feat:添加变道状态机状态" This reverts commit 4e69c4ef695ddf42f5bdffef5cfdac72c72d0326.
	sink/ros_sink_ads_hfsm_state.cpp
Commit 3e483224ec848dfc40cc51b8fccf47d1f3716d3d by 5081703.cr fix: road_boundary bug.
	data/boundary/road_boundary.cpp
Commit d4a01a6b9b401960b9d4602aad9588a91de43882 by 5081703.cr fix: crash issue.
	algorithm/wbca/path_optimization/imv_path_optimization.cpp
Commit e822ff2c13b01ed0d779494a8272a6a60e4e15d9 by 5081703.cr fix: imv crab mode for large curvature path.
	algorithm/wbca/wbca_helper.cpp
	tasks/plan/path_optimization_task.cpp
	algorithm/wbca/path_optimization/imv_path_optimization.hpp
	algorithm/wbca/wbca_manager.cpp
	algorithm/wbca/imv_wbca_manager.cpp