feat(obstacle_cruise_planner): make slow down feature stabler

[takayuki5168]

Description

障害物に対する減速機能の安定化
以下のmain内のコミットをcherry-pick

• fix(motion_utils): fix logic to calculate decel distantace autowarefoundation/autoware.universe#3747
• feat(signal_processing): add a function of low-pass filter autowarefoundation/autoware.universe#3775
• feat(obstacle_cruise_planner): hysteresis for slow down decision autowarefoundation/autoware.universe#3743
• feat(obstacle_cruise_planner): add margin time for slow down autowarefoundation/autoware.universe#3751
• feat(obstacle_cruise_planner): stabler slow down autowarefoundation/autoware.universe#3778
• fix(obstacle_cruise_planner): insert slow down with precise constraints autowarefoundation/autoware.universe#3744

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)

※3, 4件ほどfailが増えているスイートがありますがだいたい確認済みで、シナリオ修正が必須です
　PRマージ後に対応していきます 🙏

Effects on system behavior

slow down機能の安定化

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[takayuki5168]

@tkimura4 @shmpwk
月火の前車追従/slow down機能に関するリリース評価において、こちらのコミットも込みで実験していただきたいです
シナリオテスト確認済みでPRとしてはマージレディです、マージ後に3件ほど増えたfailのシナリオ側の修正をしていきます

[codecov-commenter]

Codecov Report

Patch coverage: 11.00% and project coverage change: -0.01 ⚠️

Comparison is base (59fc3a0) 15.06% compared to head (94cc1bb) 15.05%.

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Additional details and impacted files

@@               Coverage Diff               @@
##           beta/v0.8.0     #505      +/-   ##
===============================================
- Coverage        15.06%   15.05%   -0.01%     
===============================================
  Files             1412     1412              
  Lines            99191    99317     +126     
  Branches         29844    29897      +53     
===============================================
+ Hits             14939    14950      +11     
- Misses           68193    68292      +99     
- Partials         16059    16075      +16     

Flag	Coverage Δ		*Carryforward flag
differential	19.94% <11.00%> (+0.16%)	⬆️
total	13.89% <ø> (-0.01%)	⬇️	Carriedforward from 59fc3a0

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

Impacted Files	Coverage Δ
common/signal_processing/src/lowpass_filter_1d.cpp	86.66% <0.00%> (-13.34%)	⬇️
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	18.99% <0.00%> (+0.02%)	⬆️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	5.89% <0.00%> (-0.12%)	⬇️
...avior_path_planner/src/utils/lane_change/utils.cpp	0.97% <ø> (+<0.01%)	⬆️
...lude/obstacle_cruise_planner/planner_interface.hpp	14.08% <0.00%> (-5.15%)	⬇️
planning/obstacle_cruise_planner/src/node.cpp	13.05% <0.00%> (-0.22%)	⬇️
.../obstacle_cruise_planner/src/planner_interface.cpp	8.98% <0.00%> (-2.63%)	⬇️
planning/behavior_path_planner/src/utils/utils.cpp	20.00% <36.36%> (+0.30%)	⬆️
...n/motion_utils/test/src/distance/test_distance.cpp	57.14% <50.00%> (ø)
... and 2 more

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[shmpwk]

LGTM