Planning: fixed st_boundary_mapper bug; enabled reference_line_provider in default.

modules/planning/common/speed/st_boundary.cc

@@ -128,6 +128,10 @@ bool StBoundary::IsValid(
       if (std::fmax(curr_lower.t(), curr_upper.t()) + kMinDeltaT >=
           std::fmin(next_lower.t(), next_upper.t())) {
         AERROR << "t is not increasing";
+        AERROR << " curr_lower: " << curr_lower.DebugString();
+        AERROR << " curr_upper: " << curr_upper.DebugString();
+        AERROR << " next_lower: " << next_lower.DebugString();
+        AERROR << " next_upper: " << next_upper.DebugString();
         return false;
       }
     }

modules/planning/conf/planning.conf

 --flagfile=modules/common/data/global_flagfile.txt
 --nouse_ros_time
---noenable_reference_line_provider_thread
+--enable_reference_line_provider_thread

modules/planning/tasks/st_graph/st_boundary_mapper.cc

@@ -404,11 +404,12 @@ Status StBoundaryMapper::MapWithPredictionTrajectory(
   }
 
   if (lower_points.size() > 1 && upper_points.size() > 1) {
-    if (obj_decision.has_follow()) {
+    if (obj_decision.has_follow() && lower_points.back().t() < planning_time_) {
       const double diff_s = lower_points.back().s() - lower_points.front().s();
       const double diff_t = lower_points.back().t() - lower_points.front().t();
       double extend_lower_s =
-          diff_s / diff_t * planning_time_ + lower_points.front().s();
+          diff_s / diff_t * (planning_time_ - lower_points.front().t()) +
+          lower_points.front().s();
       const double extend_upper_s =
           extend_lower_s + (upper_points.back().s() - lower_points.back().s()) +
           1.0;