fix: reject overflowing curvature transitions

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/CurvatureTransition.cs

@@ -26,6 +26,10 @@ internal sealed class CurvatureTransition
             throw new ArgumentOutOfRangeException(nameof(localArcLengthMeters));
         }
 
+        double curvatureJumpPerMeter = Math.Abs(rightVehicleCurvaturePerMeter - leftVehicleCurvaturePerMeter);
+        if (!NumericGuard.IsFinite(curvatureJumpPerMeter))
+            throw new ArgumentOutOfRangeException(nameof(rightVehicleCurvaturePerMeter));
+
         SegmentIndex = segmentIndex;
         LeftCoarsePathIndex = leftCoarsePathIndex;
         RightCoarsePathIndex = rightCoarsePathIndex;
@@ -35,7 +39,7 @@ internal sealed class CurvatureTransition
         VehicleHeadingRadians = vehicleHeadingRadians;
         LeftVehicleCurvaturePerMeter = leftVehicleCurvaturePerMeter;
         RightVehicleCurvaturePerMeter = rightVehicleCurvaturePerMeter;
-        CurvatureJumpPerMeter = Math.Abs(rightVehicleCurvaturePerMeter - leftVehicleCurvaturePerMeter);
+        CurvatureJumpPerMeter = curvatureJumpPerMeter;
     }
 
     internal int SegmentIndex { get; }

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/LocalG2/CurvatureTransitionDetector.cs

@@ -46,6 +46,11 @@ internal sealed class CurvatureTransitionDetector
                 CoarsePathPoint left = request.CoarsePath[leftIndex];
                 CoarsePathPoint right = request.CoarsePath[leftIndex + 1];
                 double delta = right.VehicleCurvature - left.VehicleCurvature;
+                if (!NumericGuard.IsFinite(delta))
+                {
+                    reason = "局部 G2 曲率事件跳变溢出。";
+                    return false;
+                }
                 if (Math.Abs(delta) >= threshold)
                 {
                     detected.Add(new CurvatureTransition(