Conflicts:
	modules/planning/tasks/dp_poly_path/trajectory_cost.cc

dreamview: skip pnc monitor dump in case of disabled from dreamview FE, reduce 30% dreamview CPU. (#2328)

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.

* due to supervisor does not have customized stop command

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

This reverts commit 01b905fd.