Planning: used the change of centripetal acceleration to determine speed limit, reduced follow weight.

planning does not store routing now

Planning: fixed an issue at large loop -- left turn is too close to road boundary. (1) do not expand sample lateral shift until init_adc_l; (2) use 0.2m for sample distance to boundary.

* common::math: optimized HasOverlap calculations for box2d and polygon2d.

* Update box2d.h

Planning: used distance between reference lines instead of adc l to sample points. This way is more accurate and can avoid collision.