feat(avoidance): make detection area dynamically

[satoshi-ota]

Description

🤖 Generated by Copilot at 36f63a0

This pull request refactors and improves the avoidance target filtering logic for the behavior_path_planner node. It introduces new parameters to configure the detection area for avoidance and lane change, and uses a dynamic detection range based on the vehicle speed and jerk limit. It also simplifies and optimizes the object separation code in utils.cpp and avoidance_module.cpp.

Please review following PR at first:
autowarefoundation/autoware_launch#634

---

Main motivation: Avoidance module would like to generate avoidance path only for objects which should be avoid right now. For example, don't want to generate avoidance path for far objects if the ego is waiting for red traffic light.

  double getForwardDetectionRange() const
  {
    if (parameters_->use_static_detection_area) {
      return parameters_->object_check_max_forward_distance;
    }

    const auto max_shift_length = std::max(
      std::abs(parameters_->max_right_shift_length), std::abs(parameters_->max_left_shift_length));
    const auto dynamic_distance = PathShifter::calcLongitudinalDistFromJerk(
      max_shift_length, getLateralMinJerkLimit(), getEgoSpeed());

    // 1.5 is a margin factor for detection area longitudinal distance.
    return std::clamp(
      1.5 * dynamic_distance, parameters_->object_check_min_forward_distance,
      parameters_->object_check_max_forward_distance);
  }

simplescreenrecorder-2023-10-16_18.13.22.mp4

Tests performed

• Test with real vehicle in odaiba.
• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[rej55]

@satoshi-ota It seems that the following file also needs to be changed.
https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml

[satoshi-ota]

@satoshi-ota It seems that the following file also needs to be changed. https://github.com/autowarefoundation/autoware.universe/blob/main/planning/behavior_path_planner/config/avoidance/avoidance.param.yaml

Oh. You're right! Thanks. -> DONE

[rej55]

LGTM

[codecov]

Codecov Report

Attention: 26 lines in your changes are missing coverage. Please review.

Comparison is base (3a1d480) 14.77% compared to head (22f254f) 14.77%.
Report is 5 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5303      +/-   ##
==========================================
- Coverage   14.77%   14.77%   -0.01%     
==========================================
  Files        1663     1663              
  Lines      115150   115165      +15     
  Branches    35519    35530      +11     
==========================================
+ Hits        17013    17014       +1     
- Misses      78930    78938       +8     
- Partials    19207    19213       +6     

Flag	Coverage Δ		*Carryforward flag
differential	12.23% <7.14%> (?)
total	14.77% <ø> (+<0.01%)	⬆️	Carriedforward from 3a1d480

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

Files	Coverage Δ
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	12.28% <33.33%> (ø)
...ehavior_path_planner/src/utils/avoidance/utils.cpp	11.48% <0.00%> (ø)
...e/behavior_path_planner/utils/avoidance/helper.hpp	23.85% <14.28%> (-0.66%)	⬇️
...ath_planner/src/scene_module/avoidance/manager.cpp	5.86% <0.00%> (-0.09%)	⬇️
...h_planner/src/scene_module/lane_change/manager.cpp	4.21% <0.00%> (-0.08%)	⬇️

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