Extend frenet_optimal_trajectory to support more scenarios

[Aglargil]

Reference issue

fix #1073

What does this implement/fix?

• Add CartesianFrenetConverter: A class for converting states between Cartesian and Frenet coordinate systems
• Add third derivative and curvature rate calculations to CubicSpline
• Add LowSpeed/HighSpeed LateralMovementStrategy, add MergingAndStopping/VelocityKeeping LongitudinalMovementStrategy
• Fix : s_d was used as the acceleration, but since s_d only represents the longitudinal acceleration, the CartesianFrenetConverter is now used to compute the acceleration a consistently

Additional information

• Since I’m unsure which formatting tool to use, I used ruff as mentioned in this link. If there’s a standard formatting method for the project, please let me know, and I’ll update it right away.

CheckList

• Did you add an unittest for your new example or defect fix?
• Did you add documents for your new example? (Already have)
• All CIs are green? (You can check it after submitting)

[AtsushiSakai]

@Aglargil Thank you for your PR and sorry for late review.
I have some comments, PTAL.

And I will be very happy if you can update this doc to explain this algorithm and simulations:
https://github.com/AtsushiSakai/PythonRobotics/blob/master/docs/modules/path_planning/frenet_frame_path/frenet_frame_path_main.rst

[Aglargil]

@Aglargil Thank you for your PR and sorry for late review.@Aglargil 感谢您的公关，并对迟到的评论表示歉意。 I have some comments, PTAL.我有一些意见，PTAL。

And I will be very happy if you can update this doc to explain this algorithm and simulations: https://github.com/AtsushiSakai/PythonRobotics/blob/master/docs/modules/path_planning/frenet_frame_path/frenet_frame_path_main.rst

Thank you for your reply, I will address the comments within a day!

[Aglargil]

@AtsushiSakai I've updated it, so if there are any other suggestions, please alert me and I'll get right on it!

[AtsushiSakai]

LGTM. Than you!!