planning: enable pnc_junction, mainly for keep-clear inside junction

modules/planning/conf/traffic_rule_config.pb.txt

@@ -49,7 +49,7 @@ config: {
   enabled: true
   keep_clear {
     enable_keep_clear_zone: true
-    enable_junction: false
+    enable_junction: true
     min_pass_s_distance: 2.0
   }
 }

modules/planning/traffic_rules/keep_clear.cc

@@ -60,18 +60,20 @@ Status KeepClear::ApplyRule(Frame* const frame,
 
   // junction
   if (config_.keep_clear().enable_junction()) {
-    const std::vector<PathOverlap>& junction_overlaps =
-        reference_line_info->reference_line().map_path().junction_overlaps();
-    for (const auto& junction_overlap : junction_overlaps) {
+    const std::vector<PathOverlap>& pnc_junction_overlaps =
+        reference_line_info->reference_line()
+            .map_path().pnc_junction_overlaps();
+    for (const auto& pnc_junction_overlap : pnc_junction_overlaps) {
       const auto obstacle_id =
-          KEEP_CLEAR_JUNCTION_VO_ID_PREFIX + junction_overlap.object_id;
-
-      if (BuildKeepClearObstacle(frame, reference_line_info,
-                                 const_cast<PathOverlap*>(&junction_overlap),
-                                 obstacle_id)) {
-        ADEBUG << "KEEP_CLAER for junction[" << junction_overlap.object_id
-               << "] s[" << junction_overlap.start_s << ", "
-               << junction_overlap.end_s << "] BUILD";
+          KEEP_CLEAR_JUNCTION_VO_ID_PREFIX + pnc_junction_overlap.object_id;
+
+      if (BuildKeepClearObstacle(
+          frame, reference_line_info,
+          const_cast<PathOverlap*>(&pnc_junction_overlap),
+          obstacle_id)) {
+        ADEBUG << "KEEP_CLAER for junction[" << pnc_junction_overlap.object_id
+               << "] s[" << pnc_junction_overlap.start_s << ", "
+               << pnc_junction_overlap.end_s << "] BUILD";
       }
     }
   }

modules/planning/traffic_rules/pull_over.cc

@@ -256,14 +256,15 @@ bool PullOver::OnOverlap(const double start_s, const double end_s) {
   }
 
   // junction
-  const std::vector<PathOverlap>& junction_overlaps =
-      reference_line.map_path().junction_overlaps();
-  for (const auto& junction_overlap : junction_overlaps) {
-    if (start_s <= junction_overlap.end_s &&
-        end_s >= junction_overlap.start_s) {
-      ADEBUG << "s[" << start_s << ", " << end_s << "] on junction_overlap["
-             << junction_overlap.object_id << "] s[" << junction_overlap.start_s
-             << ", " << junction_overlap.end_s << "]";
+  const std::vector<PathOverlap>& pnc_junction_overlaps =
+      reference_line.map_path().pnc_junction_overlaps();
+  for (const auto& pnc_junction_overlap : pnc_junction_overlaps) {
+    if (start_s <= pnc_junction_overlap.end_s &&
+        end_s >= pnc_junction_overlap.start_s) {
+      ADEBUG << "s[" << start_s << ", " << end_s << "] on pnc_junction_overlap["
+             << pnc_junction_overlap.object_id << "] s["
+             << pnc_junction_overlap.start_s
+             << ", " << pnc_junction_overlap.end_s << "]";
       return true;
     }
   }