* to avoid sometimes planning stopped at the neighbor lane of the destination lane

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.