feat(avoidance): improve stop behavior under decel/jerk constraints option

[satoshi-ota]

Description

The avoidance module has option use_constraints_for_decel to decelerate within decel/jerk constrains but sometimes the ego doesn't stop at expected position even if stop distance is feasible because of the control error.

simplescreenrecorder-2023-06-15_08.01.17.mp4

So, in this PR, I added latch logic to judge whether the ego can stop at the expected position or not.

• Once the module judges the ego can stop within constraints, keep that decision forever. (above movie)
• When the ego is NOT stoppable, the module try decelerating as hard as it can within constraints. (below movie)

simplescreenrecorder-2023-06-15_10.14.16.mp4

simplescreenrecorder-2023-06-15_10.14.59.mp4

Tests performed

• PASS TIER IV INTERNAL SCENARIOS (use_constraints_for_decel=fasle)

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Patch coverage: 10.86% and no project coverage change.

Comparison is base (bcc93c1) 14.40% compared to head (23940ea) 14.40%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3978   +/-   ##
=======================================
  Coverage   14.40%   14.40%           
=======================================
  Files        1456     1456           
  Lines      102750   102769   +19     
  Branches    29784    29787    +3     
=======================================
+ Hits        14801    14808    +7     
- Misses      71771    71777    +6     
- Partials    16178    16184    +6     

Flag	Coverage Δ		*Carryforward flag
differential	12.82% <10.86%> (?)
total	14.40% <ø> (+<0.01%)	⬆️	Carriedforward from bcc93c1

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...ehavior_path_planner/src/utils/avoidance/utils.cpp	2.74% <0.00%> (-0.08%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	4.13% <4.16%> (+0.06%)	⬆️
...e/behavior_path_planner/utils/avoidance/helper.hpp	15.90% <44.44%> (+6.38%)	⬆️

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[kyoichi-sugahara]

LGTM