feat(map_based_prediction): enable to control lateral path convergence speed by setting control time horizon

[YoshiRi]

Description

In the current path generation algorithm, lateral displacement is controlled so that the it will arrive center line after the time_horizon_ = 10sec. This causes slow lateral motion convergence and lead to inappropriate path outside the lanelet.

I just add one parameter to control this convergence speed. Like figure below.
It simply means to calculate lateral path which converge to centerline by faster time_horizon.

Must merge after autowarefoundation/autoware_launch#637.

Related links

Tests performed

Tested with Psim.

See jira ticket TIER IV INTERNAL LINK.

Notes for reviewers

Must change autoware_launch repo before merging this to main branch.

Interface changes

Effects on system behavior

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[kyoichi-sugahara]

@YoshiRi
could you add explanation in the README.md?

[kyoichi-sugahara]

[NITS]
time_to_center_line is easier for me to understand the feature.

[kyoichi-sugahara]

@YoshiRi
LGTM!
Are you going to run scenario test?

[kyoichi-sugahara]

@YoshiRi
Great feature, thank you very much!
One thing I was thinking is that while it's inevitable that the trajectory will expand with the jerk-minimized trajectory,
it might be difficult to tune the parameter for the convergence time of the lateral deviation.
Would it be possible to determine the convergence time of the lateral deviation based on the maximum jerk instead?

[YoshiRi]

@kyoichi-sugahara
Test passed in Evaluator.

it might be difficult to tune the parameter for the convergence time of the lateral deviation.
Would it be possible to determine the convergence time of the lateral deviation based on the maximum jerk instead?

It's more simple. "Jerk minimized path" finally means quintic polynominal equations calculated with boundary conditions and we can just tune convergence time by changing ending boundarys.

[kyoichi-sugahara]

LGTM! Thanks!

[codecov]

Codecov Report

Attention: 14 lines in your changes are missing coverage. Please review.

Comparison is base (0d0a22c) 14.77% compared to head (ae21652) 14.73%.
Report is 3 commits behind head on main.

Additional details and impacted files

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- Coverage   14.77%   14.73%   -0.04%     
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  Branches    35616    35616              
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- Misses      79118    79393     +275     
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Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.77% <ø> (+<0.01%)	⬆️	Carriedforward from 06267fc

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Files	Coverage Δ
...map_based_prediction/map_based_prediction_node.hpp	0.00% <ø> (ø)
...on/include/map_based_prediction/path_generator.hpp	0.00% <ø> (ø)
...based_prediction/src/map_based_prediction_node.cpp	0.00% <0.00%> (ø)
...eption/map_based_prediction/src/path_generator.cpp	0.00% <0.00%> (ø)

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