feat(obstacle_cruies_planner): improve pid_based cruise planner

[takayuki5168]

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

• improved PID-based adaptive cruise algorithm and tuned parameters to realize that
  • the ego will decelerate enough when the front car decelerates.
  • the cut-in deceleration is not too large
  • the vehicle's velocity/acceleration is not jerky when cruise is stable (= the actual distance to the front car is almost the same as the ideal one)
• changed idling_time (1.5 -> 2.0) to be less dangerous
• set bicycle as cruise target since the bicycle is regarded as a vehicle according to the law.
• added disable_stop_planning flag

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[codecov]

Codecov Report

Base: 10.56% // Head: 10.49% // Decreases project coverage by -0.07% ⚠️

Coverage data is based on head (532ebb4) compared to base (469d892).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2507      +/-   ##
==========================================
- Coverage   10.56%   10.49%   -0.08%     
==========================================
  Files        1266     1268       +2     
  Lines       87738    88325     +587     
  Branches    20924    20924              
==========================================
  Hits         9266     9266              
- Misses      68597    69184     +587     
  Partials     9875     9875              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.56% <0.00%> (ø)		Carriedforward from 469d892

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

Impacted Files	Coverage Δ
...include/obstacle_cruise_planner/common_structs.hpp	0.00% <ø> (ø)
...e_planner/include/obstacle_cruise_planner/node.hpp	0.00% <ø> (ø)
...r/pid_based_planner/cruise_planning_debug_info.hpp	0.00% <0.00%> (ø)
...se_planner/pid_based_planner/pid_based_planner.hpp	0.00% <0.00%> (ø)
...lude/obstacle_cruise_planner/planner_interface.hpp	0.00% <0.00%> (ø)
...stacle_cruise_planner/stop_planning_debug_info.hpp	0.00% <0.00%> (ø)
planning/obstacle_cruise_planner/src/node.cpp	0.00% <0.00%> (ø)
...lanner/src/pid_based_planner/pid_based_planner.cpp	0.00% <0.00%> (ø)
.../obstacle_cruise_planner/src/planner_interface.cpp	0.00% <0.00%> (ø)
... and 6 more

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[purewater0901]

LGTM