feat: change openspace in stage_approaching_parking_spot

[daohu527]

Parking Planning Phases

Phase 1 — Cruising / Searching

• Scene: Looking for a parking spot.
• Planner: Lane Follow Planner.
• Key: Uses map or perceived lane lines to create a reference for comfort and compliance.

Phase 2 — Approach / Setup

• Scene: Move from lane to an initial parking pose (key pose).
• Issue: Lane Planner yields unnatural reference lines.
• Solution: Switch to Open Space Planner.
  • Uses local free space (occupancy grid/Voronoi).
  • Plans in (x, y, θ), not (s, l).

Phase 3 — Maneuver / Docking

• Scene: Back-in or parallel parking.
• Planner: Open Space methods (e.g., Hybrid A*, MCTS, iLQR/CILQR).

[Copilot]

Pull request overview

This PR shifts the valet parking “approach/setup” phase away from reference-line (lane-follow) planning and toward Open Space planning, using the parking-space-id to fetch the target spot from HDMap and using a (routing/map-derived) parking-spot center for proximity checks.

Changes:

• Routing: add validation/fallback so parking corner points can be supplemented from HDMap when missing in routing request.
• Planning: update OpenSpace ROI / pre-stop / valet scenario logic to fetch target parking spot by id and use a parking-spot center (routing-first, map-fallback) for distance gating.
• Scenario/config: switch VALET_PARKING_APPROACHING_PARKING_SPOT stage tasks to Open Space task chain and update approaching stage to execute Open Space tasks.

Reviewed changes

Copilot reviewed 8 out of 8 changed files in this pull request and generated 6 comments.

Show a summary per file

File	Description
modules/routing/routing.cc	Adds parking_space_id guard and HDMap-based fallback for missing parking corner points during supplement.
modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.h	Updates APIs to fetch target parking spot by id and simplifies distance-check signature.
modules/planning/tasks/deciders/open_space_decider/open_space_roi_decider.cc	Implements HDMap id lookup for parking spot and Euclidean distance gating using routing/map-derived center.
modules/planning/tasks/deciders/open_space_decider/open_space_pre_stop_decider.cc	Computes pre-stop target s from parking-spot center projected onto reference line (routing/map fallback).
modules/planning/scenarios/park/valet_parking/valet_parking_scenario.h	Replaces “search on path” helper with HDMap id lookup and updates distance-check API.
modules/planning/scenarios/park/valet_parking/valet_parking_scenario.cc	Uses HDMap id lookup + Euclidean distance check for scenario transferability.
modules/planning/scenarios/park/valet_parking/stage_approaching_parking_spot.cc	Switches approaching stage execution to Open Space tasks and uses ParkAndGo status for setup-pose completion checks.
modules/planning/conf/scenario/valet_parking_config.pb.txt	Replaces reference-line task list in approaching stage with Open Space task chain (ROI/trajectory/fallback).