feat: disable the localization noises when ego speed is slow

[xtk8532704]

Description

Put a limit on the localization noise: disable noise when the ego speed < speed_threshold

Abstract

Put a limit on the localization noise: when the ego speed < speed_threshold, the localization noises are not applied.

Background

The ego can't engage when enable_keep_stopped_until_steer_convergence is true and the localization noises are applied.

Details

In a real environment, the ego can engage because the localization noises stabilize at a fixed value if the vehicle stops.
So we also want to stop localization noises when the ego stops.

Test results in the basic planning scenarios:
Before: 3792/3815 (pass/all)
After: 3817/3820 (pass/all)

References

None

Destructive Changes

None

Known Limitations

None

[github-actions]

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[sonarqubecloud]

Quality Gate passed

Issues
1 New issue
0 Accepted issues

Measures
0 Security Hotspots
60.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud