feat(autoware_control_evaluator): add new steering metrics

[xtk8532704]

Description

• Add the metrics steering_angle, steering_rate, and steering_acceleration, which take info from /vehicle/status/steering_status as inputs.

  {Metric::steering_angle, "Steering angle[rad]"},
  {Metric::steering_rate, "Steering angle rate[rad/s]"},
  {Metric::steering_acceleration, "Steering angle acceleration[rad/s^2]"},

• By the new metrics, I observed that steering_acc is very unstable, possibly due to a potential problem with the controller not limiting it.

  • Here is a sample in Psim with statistics. Uploading Screencast from 2025年01月22日 17時58分10秒.webm…

  • statistic results:

{
    "goal_lateral_deviation/count": 4066,
    "goal_lateral_deviation/description": "Lateral deviation from the goal point[m]",
    "goal_lateral_deviation/max": 71.57552209610769,
    "goal_lateral_deviation/mean": 15.095354424273763,
    "goal_lateral_deviation/min": 0.04761014831880145,
    "goal_longitudinal_deviation/count": 4066,
    "goal_longitudinal_deviation/description": "Longitudinal deviation from the goal point[m]",
    "goal_longitudinal_deviation/max": 48.50298174670098,
    "goal_longitudinal_deviation/mean": 18.26058945189047,
    "goal_longitudinal_deviation/min": 0.0016048344136227848,
    "goal_yaw_deviation/count": 4066,
    "goal_yaw_deviation/description": "Yaw deviation from the goal point[rad]",
    "goal_yaw_deviation/max": 3.141439739072309,
    "goal_yaw_deviation/mean": 2.4573721775827067,
    "goal_yaw_deviation/min": 0.0009959786905762158,
    "lateral_deviation/count": 4037,
    "lateral_deviation/description": "Lateral deviation from the reference trajectory[m]",
    "lateral_deviation/max": 62.31623568037038,
    "lateral_deviation/mean": 0.26841448901392845,
    "lateral_deviation/min": 0.0001059528469253869,
    "left_boundary_distance/count": 4056,
    "left_boundary_distance/description": "Signed distance to the left boundary[m]",
    "left_boundary_distance/max": 29.61347099254557,
    "left_boundary_distance/mean": 1.2783057452624818,
    "left_boundary_distance/min": 0.0,
    "right_boundary_distance/count": 4056,
    "right_boundary_distance/description": "Signed distance to the right boundary[m]",
    "right_boundary_distance/max": 22.981874429434978,
    "right_boundary_distance/mean": 0.8003025301497705,
    "right_boundary_distance/min": -29.284892633860427,
    "steering_acceleration/count": 4267,
    "steering_acceleration/description": "Steering angle acceleration[rad/s^2]",
    "steering_acceleration/max": 10.53799197727243,
    "steering_acceleration/mean": -8.209054902784187e-05,
    "steering_acceleration/min": -11.719676851856809,
    "steering_angle/count": 4269,
    "steering_angle/description": "Steering angle[rad]",
    "steering_angle/max": 0.36725354194641113,
    "steering_angle/mean": -0.05339321038275664,
    "steering_angle/min": -0.6454648971557617,
    "steering_rate/count": 4268,
    "steering_rate/description": "Steering angle rate[rad/s]",
    "steering_rate/max": 1.1997751153093383,
    "steering_rate/mean": -0.0005450697894108572,
    "steering_rate/min": -0.8812904845608622,
    "yaw_deviation/count": 4037,
    "yaw_deviation/description": "Yaw deviation from the reference trajectory[rad]",
    "yaw_deviation/max": 3.125470616101369,
    "yaw_deviation/mean": 0.18996137215721864,
    "yaw_deviation/min": 8.843401220204328e-07
}

Related links

Parent Issue:

• Link

How was this PR tested?

Psim:
Screencast from 2025年01月23日 17時06分58秒.webm

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 3.44828% with 28 lines in your changes missing coverage. Please review.

Project coverage is 29.76%. Comparing base (972f445) to head (c826483).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...e_control_evaluator/src/control_evaluator_node.cpp	3.44%	27 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10012      +/-   ##
==========================================
- Coverage   29.78%   29.76%   -0.02%     
==========================================
  Files        1435     1436       +1     
  Lines      108277   108337      +60     
  Branches    42946    42959      +13     
==========================================
  Hits        32249    32249              
- Misses      72898    72957      +59     
- Partials     3130     3131       +1     

Flag	Coverage Δ		*Carryforward flag
differential	3.04% <3.44%> (?)
total	29.79% <ø> (+<0.01%)	⬆️	Carriedforward from 9c39d3f

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[kosuke55]

LGTM!

[kosuke55]

let's merge before relase if any other concerns!