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Corridor-aware planner: boundary tracking, trap-avoidance, race-line heuristic, tests & Docker - #1

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Corridor-aware planner: boundary tracking, trap-avoidance, race-line heuristic, tests & Docker#1
Weiores wants to merge 1 commit into
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codex/improve-track-detection-and-driving-behavior

Improve gap_finder with corridor planning, trap avoidance, tests

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