feat(obstacle_cruise_planner): stabler slow down

[takayuki5168]

Description

• added a lower-pass filter for

  • lateral distance from obstacle to the path
  • slow down start distance
  • slow down velocity

• calculate slow down velocity from the distance constraints using behavior_velocity_planner's util function.

Tests performed

• planning simulator
• scenario simulator
  • without this PR: https://evaluation.tier4.jp/evaluation/reports/fc75b567-170a-5d09-8e6a-26088cf2ff8f?project_id=prd_jt (1692/1722 pass)
  • with this PR: https://evaluation.tier4.jp/evaluation/reports/534ac908-f7c4-52d6-ab98-bb2813475ddc?project_id=prd_jt (1697/1722 pass)

Effects on system behavior

Stabler slow down planning against close obstacles.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.02 ⚠️

Comparison is base (2647660) 14.52% compared to head (2c238bc) 14.51%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3778      +/-   ##
==========================================
- Coverage   14.52%   14.51%   -0.02%     
==========================================
  Files        1442     1442              
  Lines      101489   101583      +94     
  Branches    30167    30204      +37     
==========================================
+ Hits        14745    14746       +1     
- Misses      70604    70692      +88     
- Partials    16140    16145       +5     

Flag	Coverage Δ		*Carryforward flag
differential	8.80% <0.00%> (?)
total	14.53% <ø> (+<0.01%)	⬆️	Carriedforward from 2647660

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

Impacted Files	Coverage Δ
...lude/obstacle_cruise_planner/planner_interface.hpp	14.08% <0.00%> (-4.79%)	⬇️
planning/obstacle_cruise_planner/src/node.cpp	13.05% <0.00%> (-0.03%)	⬇️
.../obstacle_cruise_planner/src/planner_interface.cpp	9.02% <0.00%> (-3.02%)	⬇️

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