feat(simple_planning_simulator): add new vehicle model with falling down

[yuki-takagi-66]

Description

This PR provides a new vehicle model that may fall against the slope without appropriate brake control.

The new model is forked from the model delay_steer_acc_geared, and its significant change is brake behavior.
The new model can handle more appropriate brake acceleration when the vehicle has zero or negative velocity against the gear.

In addition, I also fixed a problem where the slope compensations sign was reversed when backing up, which is common to all models.
Screencast from 06-25-2024 02:24:59 PM.webm

Related links

Tests performed

psim

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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[codecov]

Codecov Report

Attention: Patch coverage is 86.79245% with 14 lines in your changes missing coverage. Please review.

Project coverage is 8.46%. Comparing base (507e3f4) to head (15ce9d0).
Report is 169 commits behind head on main.

Files	Patch %	Lines
...sim_model_delay_steer_acc_geared_wo_fall_guard.cpp	85.86%	9 Missing and 4 partials ⚠️
...nning_simulator/simple_planning_simulator_core.cpp	92.30%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #7651       +/-   ##
==========================================
- Coverage   14.84%   8.46%    -6.38%     
==========================================
  Files        1999     106     -1893     
  Lines      139163   10355   -128808     
  Branches    43716    1268    -42448     
==========================================
- Hits        20661     877    -19784     
+ Misses      95731    9449    -86282     
+ Partials    22771      29    -22742     

Flag	Coverage Δ
differential	8.46% <86.79%> (?)
total	?

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[maxime-clem]

Code looks fine to me and I tested Psim and did not observe any problem.

Can you update the README with a small description of the new model ?

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