feat(avoidance): change lateral margin based on if it's parked vehicle

[satoshi-ota]

Description

The module creates avoidance path not only for PARKED vehilce but also NON-PARKED vehicle. And, it used common lateral margin for both type of vehicle. But I think the module should be able to use different lateral margin for each types based on the assumption that the door might open and the driver might get out the car if it's a PARKED vehilce. In that case, we should set larger lateral margin for PARKED vehicle than the param for NON-PARKED vehicle.

In this PR, I rebuild lateral params and make it possible to set lateral params dependently.

For example, it's able to tune as follow. In this setting, avoidance module keeps 1.5m (0.3 + 0.5 + 0.7) for PARKED vehicle.

        bus:
...
          lateral_margin:
            soft_margin: 0.5                           # [m]
            hard_margin: 0.2                           # [m]
            hard_margin_for_parked_vehicle: 0.7        # [m]
...
          envelope_buffer_margin: 0.3
...

For PARKED vehilce. (Grid: 0.5 x 0.5m)

On the other hand, it keeps 1.0m (0.3 + 0.5 + 0.2) for NON-PARKED vehicle.

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Improve avoidance behaivor.

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[TomohitoAndo]

@satoshi-ota
Do you have plans to update the documentation?
It appears there have been significant changes to the parameters.
Additionally, it would be beneficial to include a detailed explanation of how the module decides whether other vehicles are PARKED or NON-PARKED.

[satoshi-ota]

@satoshi-ota Do you have plans to update the documentation? It appears there have been significant changes to the parameters. Additionally, it would be beneficial to include a detailed explanation of how the module decides whether other vehicles are PARKED or NON-PARKED.

@TomohitoAndo Thanks for your question. Yes, of course. However, most of avoidance logics is NOT fixed and there is a possibility to change in near future. So, I'll update opened avoidance module docs in June.

[codecov]

Codecov Report

Attention: Patch coverage is 5.00000% with 57 lines in your changes are missing coverage. Please review.

Project coverage is 14.78%. Comparing base (1b45a7e) to head (ba7b435).
Report is 12 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/utils.cpp	6.89%	27 Missing ⚠️
...th_avoidance_by_lane_change_module/src/manager.cpp	0.00%	0 Missing and 6 partials ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp	0.00%	0 Missing and 6 partials ⚠️
...nning/behavior_path_avoidance_module/src/scene.cpp	0.00%	6 Missing ⚠️
...path_avoidance_by_lane_change_module/src/scene.cpp	0.00%	5 Missing ⚠️
...ing/behavior_path_avoidance_module/src/manager.cpp	25.00%	0 Missing and 3 partials ⚠️
...path_avoidance_module/src/shift_line_generator.cpp	0.00%	3 Missing ⚠️
...nning/behavior_path_avoidance_module/src/debug.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6520      +/-   ##
==========================================
- Coverage   14.78%   14.78%   -0.01%     
==========================================
  Files        1917     1917              
  Lines      132038   132059      +21     
  Branches    39228    39242      +14     
==========================================
+ Hits        19524    19526       +2     
- Misses      90726    90738      +12     
- Partials    21788    21795       +7     

Flag	Coverage Δ		*Carryforward flag
differential	12.93% <5.00%> (?)
total	14.79% <ø> (+<0.01%)	⬆️	Carriedforward from 1b45a7e

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[TomohitoAndo]

I confirmed this works on PSim. Great!

I set the parameter like following to see the change.

        car:
          execute_num: 1                               # [-]
          moving_speed_threshold: 1.0                  # [m/s]
          moving_time_threshold: 2.0                   # [s]
          lateral_margin:
            soft_margin: 0.1                           # [m]
            hard_margin: 0.1                           # [m]
            hard_margin_for_parked_vehicle: 0.5        # [m]
          max_expand_ratio: 0.0                        # [-]
          envelope_buffer_margin: 0.1                  # [m]
          safety_buffer_longitudinal: 0.0              # [m]
          use_conservative_buffer_longitudinal: true   # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.

PARKED vehicle

NON-PARKED vehicle

[TomohitoAndo]

LGTM

[shmpwk]

LGTM