Planning: used inheritence for two different types of reference smoothers. TODO: change the codes in common/frame.cc and reference_line_provider.cc to switch smoothers.

* drivers: using cvar to trigger publish

* drivers: conf change

* drivers: create a new thread for radar data trigger

* lint fix

* drivers: add lock when clearing sensordata

* drivers: make data_trigger_running flag volatile and fix a typo

* avoid potential data conflicts.

Planning: added 2nd order derivative spline_1d_kernel test, support adding kernel for specific spline.

* * update a picture format

* * add hardware system installation guide cn version

* * add 3d_obstacle_perception_cn.md

* * correction typo

* * update new repository in docs

* * update a picture format

* * add hardware system installation guide cn version

* * add 3d_obstacle_perception_cn.md

* * correction typo

* specify datasets  samples

* model_demo rename data_usage

* remove the ambiguous demo code

* Planning: Added function to add 1st/2nd/3rd derivative kernel for specific spline.

* Planning: increase weight of first spline in qp_spline_path for smoother lane change.