fix: harden Local G2 stabilization regressions

ClumsyPilot/ParkrobTrajplanner/PathSmoothing/Processing/RawPathBaselineBuilder.cs

@@ -1,6 +1,7 @@
 using System;
 using System.Collections.Generic;
 using MultiWheelC.TrajectoryPlanning.CoarsePath;
+using MultiWheelC.TrajectoryPlanning.CoarsePath.Vehicle;
 using MultiWheelC.TrajectoryPlanning.PathSmoothing.Validation;
 
 namespace MultiWheelC.TrajectoryPlanning.PathSmoothing.Processing;
@@ -45,6 +46,7 @@ internal static class RawPathBaselineBuilder
         }
 
         if (reason != "平滑路径包含非法数值或超限车辆曲率。" ||
+            !HasTrustedVehicleCurvaturesWithinLimit(request) ||
             !TryCreateTrustedRawAnalysis(request, out analysis, out reason) ||
             !validator.TryValidate(
                 analysis.Path,
@@ -64,6 +66,28 @@ internal static class RawPathBaselineBuilder
         return true;
     }
 
+    private static bool HasTrustedVehicleCurvaturesWithinLimit(PathSmoothingRequest request)
+    {
+        if (request?.CoarsePath == null || request.CoarsePath.Count == 0 ||
+            !VehicleKinematics.TryGetMaximumCurvaturePerMeter(
+                request.Vehicle,
+                out double maximumCurvaturePerMeter))
+        {
+            return false;
+        }
+
+        for (int index = 0; index < request.CoarsePath.Count; index++)
+        {
+            CoarsePathPoint point = request.CoarsePath[index];
+            if (point == null || !IsFinite(point.VehicleCurvature) ||
+                Math.Abs(point.VehicleCurvature) > maximumCurvaturePerMeter)
+            {
+                return false;
+            }
+        }
+        return true;
+    }
+
     private static bool TryCreateTrustedRawAnalysis(
         PathSmoothingRequest request,
         out PathGeometryAnalysis analysis,