The minute you do anything to the video e.g. convert it to .avi whatever the bitrate you use, you will lose quality. As I said before if you want the same quality as the original DVD, simply rip the main movie to a .ISO (for convenience I use the .iso container), then use the right player. If you don't want to use a player that properly support .iso, then daemon tools rom allows you to mount the .iso file as a DVD.
A lot of people are giving you advice based on the fact they believe you are converting a BR disk of HD files of some type, having presumably not read your posting. If you want to keep DVD the same quality, then don't muck about with the video, dont change the resolution (about the worst thing you could do), the bitrate, mpeg container....nothing. I suggested DVD shrink only if you HAVE to make it smaller.
Unless of course there is some compelling reason the ripped dvd file has to be .avi rather than .iso?