feat(multi_object_tracker): suppress yaw rotation oscillation problem in bicycle tracking model

[YoshiRi]

Description

This PR is aiming to change bicycle model parameter at the
tracker model defined in #2679.

Changing this parameter toward understeer makes the vehicle less likely to rotate, thus reducing the problem of exaggerated Yaw rotation during tracking.

Why unintended rotation is happened

The kinematic bicycle model predicts yaw angle with following equation:

$$ \varphi_{k+1} =\varphi_{k}+\frac{v_{k}}{l_{r}} \sin \beta_{k} d t $$

$\beta$ : slip angle in CoG
$l_r$: length between rear wheel and CoG
$v$: vehicle velocity

Since the slip angle $\beta$ is not directly measured, phase delayed estimation can easily cause oscillation or overshooting.
One quick and safe fix for this problem could be that just lower this yaw update rate $\frac{v_{k}}{l_{r}} \sin \beta_{k} d t$ by increasing $l_r$.

Qualitatively, this change would show similar results to lowering the gain in estimation.

How the parameter is determined?

The parameters have so far been determined empirically, and have been adjusted to strongly reduce the gain of the Large Vehicle, which has been particularly problematic in the test cases, to the extent that it does not show significant physical inconsistencies.

In the future, the model selection and parameters will be modifiable in rosparam.

Tests performed

Tested in both rosbag and dummy perception generator.

See TIER IV internal link.

For those who are concerned about the ability to follow the curve properly with lower gain, the tracking results in such a case are illustrated in the figure below.

The curves are still being tracked without any problems after this change.

2d plot	yaw timeseries

Effects on system behavior

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (efec782) 14.11% compared to head (8aa670f) 14.11%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4146   +/-   ##
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  Coverage   14.11%   14.11%           
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  Files        1444     1444           
  Lines      101920   101920           
  Branches    27197    27197           
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  Hits        14387    14387           
  Misses      71766    71766           
  Partials    15767    15767           

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <ø> (?)
total	14.11% <ø> (ø)		Carriedforward from e5974f1

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

Impacted Files	Coverage Δ
...ject_tracker/src/tracker/model/bicycle_tracker.cpp	0.00% <ø> (ø)
..._tracker/src/tracker/model/big_vehicle_tracker.cpp	0.00% <ø> (ø)
...acker/src/tracker/model/normal_vehicle_tracker.cpp	0.00% <ø> (ø)

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[yukkysaito]

LGTM