feat(lane departure check,start planner): update lane departure check (cherry pick 8bdb5422c68 and 0042c2086d9) #3053
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Node.js 16 actions are deprecated. Please update the following actions to use Node.js 20: actions/labeler@v4. For more information see: https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/.
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