feat(lane_change): cancel hysteresis

[zulfaqar-azmi-t4]

Description

Adding hysteresis to lane change cancel.
Previously, once lane change path is approved, if it is unsafe, the module will cancel the path immediately.

Problem with current method

If there are chances that the approval chatters due to the path being safe and unsafe often.
This might be caused by the dismal positional differences between ego and target objects at every time instance.

What this PR do

With this new feature, the path will only be cancelled if the number of unsafe count exceed unsafe_hysteresis_threshold.

cap-.2024-02-01-19-48-08.mp4

Related links

This launcher is needed: autowarefoundation/autoware_launch#844

Tests performed

TBA

Notes for reviewers

I made this on top of #6276, do it needs to be merged first.

Interface changes

None

Effects on system behavior

None

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6288/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-6288/planning/behavior_path_lane_change_module/

[codecov]

Codecov Report

Attention: 20 lines in your changes are missing coverage. Please review.

Comparison is base (4792e2c) 15.13% compared to head (9cc24b7) 15.13%.
Report is 3 commits behind head on main.

Files	Patch %	Lines
...ing/behavior_path_lane_change_module/src/scene.cpp	0.00%	12 Missing ⚠️
...behavior_path_lane_change_module/src/interface.cpp	0.00%	4 Missing ⚠️
...g/behavior_path_lane_change_module/src/manager.cpp	0.00%	0 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6288      +/-   ##
==========================================
- Coverage   15.13%   15.13%   -0.01%     
==========================================
  Files        1819     1819              
  Lines      126026   126046      +20     
  Branches    38188    38200      +12     
==========================================
  Hits        19075    19075              
- Misses      85563    85579      +16     
- Partials    21388    21392       +4     

Flag	Coverage Δ		*Carryforward flag
differential	8.47% <0.00%> (?)
total	15.13% <ø> (+<0.01%)	⬆️	Carriedforward from 4792e2c

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