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Mori/keep brake before stop - #3582
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…or brake keeping before stop - Implement a robust brake-keeping state machine (NORMAL, TERMINAL_CLIP, STOP_AND_GO) in keepBrakeBeforeStop to prevent unexpected acceleration before stop points. - Promote local stopped condition to class member `m_is_stopped_with_delay` for state transition checks. - Add `terminal_clip_dist_th`, `terminal_clip_vel_th`, and `abort_dist_th` parameters to controller, default YAML, and JSON schema.
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…ctly distance-based fail-safe
…in DRIVE Reset m_brake_keeping_state to NORMAL when the controller state is not DRIVE. This prevents residual sub-states (TERMINAL_CLIP or STOP_AND_GO) from affecting vehicle behavior during re-departure, manual takeover, or emergency transitions.
…machine for robust stopping This commit refines the `keepBrakeBeforeStop` sub-state machine to ensure a robust and smooth stopping behavior, completely separating the control logic from trajectory noise and resolving potential edge cases. Key changes: - Added a lower-bound guard (`D >= 0.0`) for `TERMINAL_CLIP` entry to prevent unintended clip engagement when restarting after a slight overshoot. - Refined the `STOP_AND_GO` (early stop recovery) entry condition to strictly trigger outside the stop area (`D > drive_state_stop_dist`). - Integrated `m_pid_vel.reset()` upon entering `STOP_AND_GO` to clear accumulated integral errors (windup) during the brake clip, preventing sudden acceleration spikes. - Introduced a landing transition from `STOP_AND_GO` to `TERMINAL_CLIP` when entering the stop area (`D <= drive_state_stop_dist`). This prevents overshooting during recovery and ensures a safe hand-off to the main `STOPPED` state.
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Description
DPの出力ノイズ（目標速度の不自然なフリッカー等）に起因する停止際のブレーキのバタつきや乗り心地悪化を防止するため、keepBrakeBeforeStop の制御ロジックの改善案を実装しました。
詳細な設計背景・状態遷移図については、Related linksを参照してください。
brake_keeping_acc, brake_keeping_terminal_clip_dist_th, brake_keeping_abort_dist_th は動的に変更可能。それぞれ初期値は、-0.2m/s2, 1.0m, 2.0m.
デバッグ用出力値（Debug Values）に以下3つを追加（43〜）
BRAKE_KEEPING_STATE: ブレーキ保持機能の内部状態IS_STOPPED_WITH_DELAY: 遅延考慮の停止状態フラグHAS_STOP_POINT: 停止ポイントの有無Related links
【keepBrakeBeforeStop機能】E2Eプランナーにおける停止際制御の設計
Tests performed
Notes for reviewers
Interface changes
Effects on system behavior
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