feat(pid_longitudinal_controller)!: add acceleration feedback block

[yuki-takagi-66]

Description

This PR provides an acceleration feedback feature for the pid_longitudinal_controller.

The red allows in the following figure are added by this PR.

Note that the acceleration feedback gain G_a(s) is set as 0 in the default parameters, autowarefoundation/autoware_launch#1139.
Therefore, no behavior is changed by this PR.

With the current construction of the speed controller, it is difficult to achieve both disturbance tolerance and tracking performance when the response delay of the vehicle is large. In order to better ensure this performance, we have added a block that performs feedback control by looking at acceleration information.
This is because acceleration is closer to the input value to the plant than velocity, and the response is about 90 degrees faster.

Related links

launch PR: autowarefoundation/autoware_launch#1139

How was this PR tested?

psim and tier4 internal tests

Notes for reviewers

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 40.00000% with 9 lines in your changes missing coverage. Please review.

Project coverage is 24.09%. Comparing base (c80eddc) to head (ac5ebfe).
Report is 16 commits behind head on main.

Files	Patch %	Lines
...nal_controller/src/pid_longitudinal_controller.cpp	42.85%	7 Missing and 1 partial ⚠️
...are/pid_longitudinal_controller/lowpass_filter.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8325      +/-   ##
==========================================
- Coverage   24.10%   24.09%   -0.01%     
==========================================
  Files        1399     1399              
  Lines      102455   102469      +14     
  Branches    38921    38924       +3     
==========================================
  Hits        24695    24695              
- Misses      75235    75248      +13     
- Partials     2525     2526       +1     

Flag	Coverage Δ		*Carryforward flag
differential	34.15% <40.00%> (?)
total	24.10% <ø> (-0.01%)	⬇️	Carriedforward from c80eddc

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[yuki-takagi-66]

@Motsu-san
Just a notification, We will merge this PR, and then, the twist2accel node and stop_fillter node will be included in the feedback control loop. No interfaces are changed.