Control: refactored lon_controller.cc
Control: refactored lon_controller.cc

ApolloAuto/apollo,jinghaomiao/apollo,ApolloAuto/apollo,ApolloAuto/apollo,jinghaomiao/apollo,jinghaomiao/apollo,ycool/apollo,xiaoxq/apollo,xiaoxq/apollo,xiaoxq/apollo,ApolloAuto/apollo,ycool/apollo,ycool/apollo,jinghaomiao/apollo,ycool/apollo,xiaoxq/apollo,xiaoxq/apollo,jinghaomiao/apollo,ApolloAuto/apollo,jinghaomiao/apollo,ApolloAuto/apollo,ycool/apollo,xiaoxq/apollo,ycool/apollo