Changes

Summary

1. refactor:emergency stop的时候， 控制切换到 N档 (details)
2. fix: disable trailer_state when disable reversing truck controller. (details)
3. feat:平行驾驶的起始点的速度从历史轨迹上获取 (details)
4. fix:调整期望速度的滤波 (details)
5. refactor:平行驾驶的时候使用大的油门刹车表 (details)
6. fix: chassis.steering_angle. (details)
7. fix: steering stationary. (details)
8. fix: steering_mode = auto for move_prepare. (details)
9. fix: steer_speed = 1.0 for stationary. (details)
10. feat:打开爬坡标志位 (details)
11. feat:调整远程步进最小规划速度 (details)
12. fix: del acc_mpc_.reset (details)
13. feat:调整倒车的油门刹车表 (details)
14. feat:调整倒车的前馈补偿。 (details)
15. feat:调整安全模块的接口，需和安全模块一块更新 (details)
16. fix:编译的buy (details)
17. feat:对准时，刹车的问题 (details)
18. feat:使用阈值门限 (details)
19. feat:调整对准阈值的处理 (details)
20. fix: using plan_data to activate stationary steering. (details)
21. fix: stationary steering bug. (details)
22. feat:新增零偏角度辨识及补偿功能 (details)
23. fix:更改零偏角度yaml文件的读取方式 (details)
24. fix: crash issue (details)
25. fix: crash issue (details)
26. fix: 屏蔽变道时的零偏补偿 (details)
27. feat:适配多次步进 (details)

Commit 62c5cfb45716daf5fc8ec1e63d1ca513d4183f9e by wuyanjun110 refactor:emergency stop的时候， 控制切换到 N档
	algorithm/ctrl/lon_controller/longitude_controller.cpp
Commit 956f8a3473828368cc66a5e83051add64f16fdf7 by 5081703.cr fix: disable trailer_state when disable reversing truck controller.
	node/process/prepare/prepare_state.cpp
Commit 27f18e13ab6249a0bf51a4cf1bb2d421979f864b by wuyanjun110 feat:平行驾驶的起始点的速度从历史轨迹上获取
	algorithm/ctrl/parallel_controller/acc_augment_mpc.hpp
	algorithm/ctrl/parallel_controller/parallel_controller.cpp
	algorithm/ctrl/parallel_controller/acc_augment_mpc.cpp
	node/sink/ros_sink_command.cpp
Commit 7acfceefa6df603996a6fa5093d2e097fbfb54f2 by wuyanjun110 fix:调整期望速度的滤波
	algorithm/ctrl/parallel_controller/parallel_controller.cpp
	data/ctrl_frame.hpp
Commit ae3a02987edd7aea21bce5557ce4f7e43b0cdcfa by wuyanjun110 refactor:平行驾驶的时候使用大的油门刹车表
	algorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit 1487a6739f9bfca101f3c2d889985aab07e8639a by 5081703.cr fix: chassis.steering_angle.
	data/vehicle/vehicle_chassis.cpp
Commit f8862ad62e59762a23929c143f7f4c27b4e9db04 by 5081703.cr fix: steering stationary.
	algorithm/ctrl/lat_controller/augment_mpc.cpp
	algorithm/ctrl/lat_controller/augment_mpc.hpp
Commit d7f59e16e1b15079456007dc145752d99a486ade by 5081703.cr fix: steering_mode = auto for move_prepare.
	node/sink/ros_sink_command.cpp
Commit 3fae030da0e243933726301b4131ee6a7051d226 by 5081703.cr fix: steer_speed = 1.0 for stationary.
	algorithm/ctrl/lat_controller/augment_mpc.cpp
Commit f8ea2c9c7f4c269d1f7becac0d78c10a729e7c8e by wuyanjun110 feat:打开爬坡标志位
	node/source/ros_source_parallel_cmd.cpp
Commit 350fd16a4e3aa149d53c8620a4a19338ca676184 by wuyanjun110 feat:调整远程步进最小规划速度
	algorithm/ctrl/lon_controller/truck_creep_controller_2.cpp
Commit c21e5539ea3d02ffb5fcc4edd67dfac57c07744f by 5081703.cr fix: del acc_mpc_.reset
	algorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit 8e505c5c05c35fa3591005bcf67d074bbb93ecac by wuyanjun110 feat:调整倒车的油门刹车表
	algorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit fb1ccc005c3ee46fe267bfc3fe48cb2680db8883 by wuyanjun110 feat:调整倒车的前馈补偿。
	data/config/cfg_parallel.cpp
	data/config/cfg_parallel.hpp
	algorithm/ctrl/parallel_controller/parallel_controller.cpp
Commit 30e4489b2b6065fa68a3933f0980b753b3b5e871 by wuyanjun110 feat:调整安全模块的接口，需和安全模块一块更新
	node/sink/ros_sink_command.cpp
	data/plan/plan_data.hpp
	data/plan/plan_data.cpp
Commit d60b3ccfe7297adc7411bf5e08901cedc463fa3c by wuyanjun110 fix:编译的buy
	data/plan/plan_data.hpp
	node/sink/ros_sink_command.cpp
Commit d663245c3ba11577d64c5dae9abb973d165fa952 by wuyanjun110 feat:对准时，刹车的问题
	algorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 7cdf9036dc4b885aa0c3bac3af3c02916f7ec831 by wuyanjun110 feat:使用阈值门限
	algorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit 7d2eeb7ec642aa164f6e9162ae27aa4378dede2f by wuyanjun110 feat:调整对准阈值的处理
	algorithm/ctrl/lon_controller/truck_creep_controller.cpp
Commit bee5190cbc27da2d79fc347af8955b16ece0a9cc by 5081703.cr fix: using plan_data to activate stationary steering.
	data/plan/plan_data.hpp
	data/plan/plan_data.cpp
	algorithm/ctrl/lat_controller/augment_mpc.cpp
Commit 3f5e4f1f4cd63acd48c0685f6687bc064e568c14 by 5081703.cr fix: stationary steering bug.
	node/sink/ros_sink_command.cpp
Commit b6b84cf70ee229d6840e76c971b729abf1eac958 by liuhongshuo feat:新增零偏角度辨识及补偿功能
	algorithm/ctrl/observer/steering_offset_observer.hpp
	data/ctrl_frame.hpp
	data/ctrl/lateral_cmd.cpp
	CMakeLists.txt
	node/CMakeLists.txt
	node/process/proc/proc_lateral_controller.hpp
	data/config/cfg_steering_offset_observer.hpp
	data/vehicle/vehicle_state.cpp
	node/sink/ros_sink_command.cpp
	data/ctrl/observer_debug_data.cpp
	data/config/cfg_steering_offset_observer.cpp
	data/ctrl/lateral_cmd.hpp
	node/process/proc/proc_lateral_controller.cpp
	node/sink/ros_sink_ctrl_debug.cpp
	node/logic.hpp
	node/logic.cpp
	config/config_car/ctrl.yaml
	config/config_imv/ctrl.yaml
	algorithm/ctrl/observer/steering_offset_observer.cpp
	package.xml
	data/ctrl_frame.cpp
	config/config_truck/ctrl.yaml
	data/ctrl/observer_debug_data.hpp
Commit 34f11cdc5f8d92a2a0124516a42b89bc2fa49604 by liuhongshuo fix:更改零偏角度yaml文件的读取方式
	node/logic.cpp
	data/config/cfg_steering_offset_observer.cpp
	data/config/cfg_steering_offset_observer.hpp
Commit c2ca63b1f39faa468c1c38dc814fe2d40602445d by 5081703.cr fix: crash issue
	data/plan/plan_data.cpp
Commit 1e015cff9dddc734826837e074c145638e007784 by 5081703.cr fix: crash issue
	data/plan/plan_data.cpp
Commit 19a8f0893012851595f722b221118a4eda904c8f by liuhongshuo fix: 屏蔽变道时的零偏补偿
	node/process/proc/proc_lateral_controller.cpp
Commit bca99ca66e6ea06c8e9c210f911950ee9a40567c by wuyanjun110 feat:适配多次步进
	algorithm/ctrl/lon_controller/acc_augment_mpc.cpp
	data/plan/plan_enum_definition.hpp
	node/sink/ros_sink_command.cpp
	data/ctrl/vehicle_attr.cpp