fix(planning_validator): improve curvature calculation for less noise

[TakaHoribe]

Description

When driving autonomously, occasionally an error message stating "Lateral acceleration is too high" appears on the terminal.

This issue arises because the planning_validator calculates curvature based on three consecutive points. These closely spaced points can produce extremely high curvature results due to noise. We are not interested in the curvature of a path separated by only 1mm; what we really want to know is the curvature over a few meters. I've now modified it to compute the curvature based on three points that are 1m apart.

Note: Parameterizing this distance is on our to-do list for future updates.

Related links

TIERIV Internal ticket

Tests performed

run psim

Notes for reviewers

None

Interface changes

None

Effects on system behavior

planning validation for the lateral acceleration will get less sensitive to noises.

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[codecov]

Codecov Report

Patch coverage: 54.54% and project coverage change: -0.10% ⚠️

Comparison is base (27220a8) 15.81% compared to head (9589069) 15.71%.
Report is 9 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5049      +/-   ##
==========================================
- Coverage   15.81%   15.71%   -0.10%     
==========================================
  Files        1581     1577       -4     
  Lines      109896   109160     -736     
  Branches    34411    34022     -389     
==========================================
- Hits        17375    17150     -225     
+ Misses      73394    73123     -271     
+ Partials    19127    18887     -240     

Flag	Coverage Δ		*Carryforward flag
differential	48.24% <57.14%> (?)
total	15.70% <0.00%> (-0.11%)	⬇️	Carriedforward from f9b1c70

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

Files Changed	Coverage Δ
...analysis/src/control_performance_analysis_node.cpp	0.00% <ø> (ø)
...ol/operation_mode_transition_manager/src/state.cpp	0.00% <ø> (ø)
...ol/operation_mode_transition_manager/src/state.hpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	13.09% <0.00%> (+0.65%)	⬆️
planning/planning_validator/src/utils.cpp	60.71% <57.14%> (+2.61%)	⬆️

... and 35 files with indirect coverage changes

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