feat(behavior_velocity): apply and add max slowdown calculation utils

[taikitanaka3]

Related Issue(required)

#258

Description(required)

add max slowdown jerk acc calculation from current ego velocity and acceleration as planing util and applied to occlusion spot utils

Review Procedure(required)

see below test case pass

1: [----------] 1 test from smoothDeceleration
1: [ RUN      ] smoothDeceleration.calculateMaxSlowDownVelocity
1: s: 0 v: 5
1: s: 8 v: 5.38074
1: s: 16 v: 2.87228
1: s: 24 v: 0
1: [       OK ] smoothDeceleration.calculateMaxSlowDownVelocity (0 ms)
1: [----------] 1 test from smoothDeceleration (0 ms total)

see if it successfully slow down

avoiding emergency stop
https://user-images.githubusercontent.com/65527974/154231055-9a1ef9aa-892f-4274-a62e-8e7cd3eb542c.mp4

cc: @yukkysaito

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[taikitanaka3]

@takayuki5168
can you take a look at calcMaxSlowDownLimit function if it's ok with gtest? maybe need more test case or enough

[codecov]

Codecov Report

Merging #388 (ed5c9a6) into tier4/proposal (3b19671) will decrease coverage by 2.74%.
The diff coverage is 60.86%.

@@                Coverage Diff                @@
##           tier4/proposal    #388      +/-   ##
=================================================
- Coverage            9.33%   6.59%   -2.75%     
=================================================
  Files                 690      72     -618     
  Lines               48510    4988   -43522     
  Branches             5844     704    -5140     
=================================================
- Hits                 4529     329    -4200     
+ Misses              40209    4483   -35726     
+ Partials             3772     176    -3596     

Impacted Files	Coverage Δ
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	8.33% <ø> (ø)
...vior_velocity_planner/include/utilization/util.hpp	31.57% <ø> (ø)
...lanner/src/scene_module/occlusion_spot/manager.cpp	0.00% <0.00%> (ø)
..._module/occlusion_spot/risk_predictive_braking.cpp	37.20% <0.00%> (-2.80%)	⬇️
...ior_velocity_planner/test/src/test_utilization.cpp	65.51% <53.33%> (-13.06%)	⬇️
...behavior_velocity_planner/src/utilization/util.cpp	35.82% <80.00%> (+10.13%)	⬆️
...y_planner/src/scene_module/traffic_light/scene.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/detection_area/scene.cpp	0.00% <0.00%> (ø)
...mon/autoware_auto_common/test/test_type_traits.cpp
...n/include/shape_estimation/filter/truck_filter.hpp
... and 617 more

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[takayuki5168]

The problem setting is stopping with acceleration and jerk limitation, right?
Could you give me a mathematical formulation of this function. I will check if the formulation is correct or not.

[taikitanaka3]

@takayuki5168
Thank you.
mathmatical formula is almost then same as description.
Because this function considers stop distance with maximum jerk and maximum acceleration, judgement whether this stop can be during const jerk or const accel is calculated from t1

[takayuki5168]

LGTM

[taikitanaka3]

@tkimura4
can you take a look at this PR for applying to occlusion spot ?

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-388/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-388/planning/behavior_velocity_planner/occlusion-spot-design/

[tkimura4]

LGTM

[taikitanaka3]

• wrote release note