Limit lateral acceleration in turns to regulated maximum

[alfhern]

• Instantaneous acceleration limits control to consider regulation for maximum lateral acceleration.
  • Modify the planner acceleration limits in turns to make sure car does not exceeds lateral acceleration limits specified in regulation.
  • In case of instantaneous lateral acceleration being greater than maximum allowed, set max acceleration limit to be a value to provide a smooth deceleration on turns.
  • Research an appropriate value for a smooth deceleration in turns when going too fast.
  • Add UI elements to visualise this for testing purposes. Perhaps also on reply ui.
  • Add tests.
• Consider turns ahead prediction for limiting acceleration in a way that braking should be done before entering a turn when the speed is too hight to comply with maximum lateral acceleration.
  • Calculate lateral acceleration on path ahead based on path poly by path planner.
  • Limit acceleration accordingly to ensure entering turns ahead at a speed that will not produce a lateral acceleration grater than maximum allows.