docs(trajectory_follower): update information regarding slope compensation

[zulfaqar-azmi-t4]

Description

🤖 Generated by Copilot at 5a74202

Updated control/pid_longitudinal_controller/README.md to document a new feature for slope compensation using the I-term in PID. Improved clarity and consistency of the existing documentation.

Tests performed

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Effects on system behavior

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[zulfaqar-azmi-t4]

@brkay54 @danielsanchezaran @TakaHoribe
I have slightly update the document to reflect the current limitation of the slope compensation.
Appreciate your help to review and see if the explanation makes sense.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-5536/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-5536/control/pid_longitudinal_controller/

[brkay54]

@zulfaqar-azmi-t4 Thank you for the work. I couldn't understand some topics.

Firstly, the slope compensation on hilly roads is under development. Here you can see the development process and other PRs are also waiting for review:

• feat(pid_longitudinal_controller): improve delay and slope compensation #4712
• fix(pid_longitudinal_controller): add virtual last point to avoid wrong find wrong nearest_idx #5077
• feat(pid_longitudinal_controller): improve FF gain constant calculation #5079
• fix(pid_longitudinal_controller): change pid structure with respect to design #5080
• feat(pid_longitudinal_controller): update readme #5081

Also, in yesterday's Planning & Control WG, as I understand, we concluded that:
"To accumulate errors vehicle_interface might sent a msg wrt whether the vehicle is engaged or not (for hardware related errors this might be an optional functionality) and having a limit for max acc"
lastly, we decided that another discussion was going to be created (https://github.com/orgs/autowarefoundation/discussions/3980). I couldn't understand the purpose of the changes on this document. Can you give us a more detailed explanation?

[zulfaqar-azmi-t4]

@brkay54
Thank you for the response.
The aims of this document is to update the limitation of the current slope compensation.
I've updated based on the current version, so I didn't include your PRs as considerations.

About

"To accumulate errors vehicle_interface might sent a msg wrt whether the vehicle is engaged or not (for hardware related errors this might be an optional functionality) and having a limit for max acc"

In my current understanding, my explanation also might highlight this limitation, i.e.: while ego going up-hill during the localization and map information is inaccurate, it might possibly cause the ego to creep slowly uphill. However, my explanation might be inaccurate, therefore I'm looking for your advice to ensure my understanding is valid.

lastly, we decided that another discussion was going to be created
This is to handle downhill issue, when ego is currently stop.