feat(obstacle_cruise_planner): add jerk and acc limits for slow-down

[danielsanchezaran]

Description

🤖[deprecated] Generated by Copilot at f95a0b7

This pull request adds new parameters and variables for the slow down mode of the obstacle cruise planner. The slow down mode is used to avoid collisions with obstacles by smoothly reducing the ego vehicle speed. The new parameters and variables allow tuning the minimum deceleration and jerk values for the slow down mode.

Usually, the min_jerk and min_acc values are tuned to low values for a comfortable driving experience. However, if said values are too low, it is possible that the cruise_planner's slow down cannot be used when the vehicle is travelling at highers speeds (the slow down requires a bigger jerk and/or acceleration limit). This PR adds parameters to customize the minimum jerk and acc used specifically for slow down.

Related links

ticket: TIER IV INTERNAL LINK

Tests performed

Simulations on PSim to check the effect of the changes.

Notes for reviewers

Requires this PR(launch) to be merged as well: autowarefoundation/autoware_launch#726

Interface changes

Added a min_acc and min_jerk parameter for obstacle_cruise_planner slow_down

Effects on system behavior

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[codecov]

Codecov Report

Attention: 5 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (f95a0b7) 8.39%.
Report is 174 commits behind head on main.

Files	Patch %	Lines
...include/obstacle_cruise_planner/common_structs.hpp	0.00%	3 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #5810       +/-   ##
==========================================
- Coverage   15.32%   8.39%    -6.93%     
==========================================
  Files        1721      18     -1703     
  Lines      118559    2286   -116273     
  Branches    37995    1235    -36760     
==========================================
- Hits        18169     192    -17977     
+ Misses      79657    1759    -77898     
+ Partials    20733     335    -20398     

Flag	Coverage Δ
differential	8.39% <0.00%> (?)
total	?

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