fix(vehicle_cmd_gate): use real velocity for the lateral filter #4918
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Description
Use the real velocity for the lateral command filter.
Otherwise, if the velocity command oscillates, the filtered steering oscillates.
The drawback is that it won't guarantee the constraints are met in the series of the output command itself. (We need to see the actual velocity data to check it.) But this is much safer than the previous implementation.
Related links
TIERIV Internal ticket
Tests performed
Run in a real vehicle testing and it worked well.
Notes for reviewers
None
Interface changes
None
Effects on system behavior
Improve the filtering. No effect in the default parameter.
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