feat(control): add autonomous emergency braking module

[purewater0901]

Description

Currently, autoware does not have any emergency braking systems, and it can be collide obstacles when ego vehicle is out of the lane or ego position is not accurate. In this PR, I created a new package called "autonomous emergency braking", and it enables Autoware to stop ego vehicle when emergency brake needed.

This new function has the following features.

• Generate predicted path of the ego vehicle from imu data (steering angle) and vehicle velocity data
• Perform collision check with pointcloud data using path generated by the aformentioned method or (and) predicted path from control module
• Send error signals via diagnostics when collision happens

Related links

Tests performed

This function is tested with real vehicle, and the author confirms AEB works correctly.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.04 🎉

Comparison is base (7d15fdf) 11.65% compared to head (d386e54) 11.70%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2793      +/-   ##
==========================================
+ Coverage   11.65%   11.70%   +0.04%     
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  Files        1314     1317       +3     
  Lines       92818    90910    -1908     
  Branches    25008    24030     -978     
==========================================
- Hits        10821    10643     -178     
+ Misses      70646    69202    -1444     
+ Partials    11351    11065     -286     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	11.73% <ø> (+0.07%)	⬆️	Carriedforward from cff916b

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

Impacted Files	Coverage Δ
control/autonomous_emergency_braking/src/node.cpp	0.00% <0.00%> (ø)
...ner/include/behavior_path_planner/data_manager.hpp	0.00% <0.00%> (-21.43%)	⬇️
...ion/include/interpolation/spline_interpolation.hpp	28.57% <0.00%> (-13.10%)	⬇️
...zation/ekf_localizer/test/test_warning_message.cpp	54.54% <0.00%> (-4.28%)	⬇️
...e/interpolation/spline_interpolation_points_2d.hpp	80.00% <0.00%> (-3.34%)	⬇️
...planning_evaluator/src/planning_evaluator_node.cpp	34.37% <0.00%> (-2.09%)	⬇️
...nning_simulator/simple_planning_simulator_core.cpp	37.42% <0.00%> (-1.96%)	⬇️
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	43.54% <0.00%> (-0.82%)	⬇️
...n_utils/test/src/trajectory/test_interpolation.cpp	17.34% <0.00%> (-0.82%)	⬇️
...ing/obstacle_avoidance_planner/src/utils/utils.cpp	9.93% <0.00%> (-0.67%)	⬇️
... and 208 more

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[TakaHoribe]

memo: this node is not launched by default. autowarefoundation/autoware_launch#232

[TakaHoribe]

LGTM.

Note: this feature could be merged into the node discussed here so that some additional features such as the pause interface can be used.

[ito-san]

LGTM