feat(map_based_prediciton): use orientation reliability in prediction

[YoshiRi]

Description

• This PR aims to prevent predict path bending by unreliable object yaw estimation such as with radar sensor
• New logic uses object.kinematics.orientation_availability to find unreliable yaw input
• Unstable object's yaw is replaced by mean yaw angle of current_lanelets only in the path generation process

See the sample output:

• Conventional process will generate extremely bent path due to the large lateral velocity
• With this PR, we can get appropriate path because the path generator assumes the object yaw is equal to lane yaw.
  

Tests performed

Tested with Psim.

This is related radar_far_away_perception project. See related PR.

Effects on system behavior

Nothing

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

Summary by CodeRabbit

• New Feature: Added a function replaceObjectYawWithLaneletsYaw in the map_based_prediction_node.cpp file to improve path prediction accuracy by replacing the yaw angle of objects with the mean yaw angle of the lanelets they are on.
• Bug Fix: Modified the objectsCallback function in the map_based_prediction_node.cpp file to call replaceObjectYawWithLaneletsYaw before generating predicted paths, preventing path bending caused by unreliable object yaw estimation.

[codecov]

Codecov Report

Attention: 15 lines in your changes are missing coverage. Please review.

Comparison is base (0d0a22c) 14.77% compared to head (c85e0ae) 14.71%.
Report is 69 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5435      +/-   ##
==========================================
- Coverage   14.77%   14.71%   -0.06%     
==========================================
  Files        1662     1662              
  Lines      115385   115823     +438     
  Branches    35616    35616              
==========================================
  Hits        17043    17043              
- Misses      79118    79556     +438     
  Partials    19224    19224              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.77% <ø> (+<0.01%)	⬆️	Carriedforward from 6acc281

*This pull request uses carry forward flags. Click here to find out more.

Files	Coverage Δ
...based_prediction/src/map_based_prediction_node.cpp	0.00% <0.00%> (ø)

... and 1 file with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[github-actions]

CodeRabbit

Walkthrough

The changes introduce a new function called replaceObjectYawWithLaneletsYaw in the map_based_prediction_node.cpp file. This function replaces the yaw angle of an object with the mean yaw angle of the lanelets it is currently on. The purpose of this change is to prevent path bending caused by unreliable object yaw estimation. The objectsCallback function has also been modified to call replaceObjectYawWithLaneletsYaw before generating predicted paths.

Changes

File	Summary
perception/map_based_prediction/src/map_based_prediction_node.cpp	Added a new function replaceObjectYawWithLaneletsYaw that replaces the yaw angle of an object with the mean yaw angle of the lanelets it is currently on. This helps prevent path bending caused by unreliable object yaw estimation. Modified the objectsCallback function to call replaceObjectYawWithLaneletsYaw before generating predicted paths.

"In the realm of maps and predictions,
A rabbit's touch brings corrections.
Yaw angles, once unreliable and bent,
Are now replaced with lanelets' intent.
Paths are straightened, no longer awry,
Thanks to code changes, oh my oh my!"

---

Uplevel your code reviews with CodeRabbit Pro

CodeRabbit Pro

If you like this project, please support us by purchasing the Pro version. The Pro version has advanced context, superior noise reduction and several proprietary improvements compared to the open source version. Moreover, CodeRabbit Pro is free for open source projects.

[github-actions]

CodeRabbit

Commits

Files that changed from the base of the PR and between 25e8b3f and 6acc281 commits.

Files selected (1)

• perception/map_based_prediction/src/map_based_prediction_node.cpp (2)

Review comments generated (0)

• Review: 0
• LGTM: 0

---

Tips

Chat with CodeRabbit Bot (@coderabbitai)

• Reply on review comments left by this bot to ask follow-up questions. A review comment is a comment on a diff or a file.
• Invite the bot into a review comment chain by tagging @coderabbitai in a reply.

Code suggestions

• The bot may make code suggestions, but please review them carefully before committing since the line number ranges may be misaligned.
• You can edit the comment made by the bot and manually tweak the suggestion if it is slightly off.

Pausing incremental reviews

• Add @coderabbitai: ignore anywhere in the PR description to pause further reviews from the bot.

[kyoichi-sugahara]

LGTM!