feat(lane_change): improve delay lane change logic

[mkquda]

Description

Lane change module has a feature to allow delaying of LC when there is parked along the target lane ahead of ego, however the current implementation has some drawbacks.
In the current implementation, we only check the front most static object along the target lane and delay is applied only if:

• The object if considered parked (stopped to the side of the lane)
• Distance from object to terminal is sufficient to do LC

This approach limits the situations under which delay feature can be useful.

To help improve the robustness of delay feature and increase its usefulness, the following method is proposed.
For all static objects ahead of ego along the target lane, we check each object from closest to furthest, if any object passes the following checks, LC will be delay:

• Distance from object to next static object is sufficient to do LC
• Distance from object to terminal is sufficient to do LC
• Object is parked (if parameter to only consider parked objects is enabled).

Changes

• Implement new function is_delay_lane_change
• Add new struct DelayParameters
• Refactor LC parameters related to delay feature
• Refactor function isParkedObject
• Remove unused functions passed_parked_objects & getLeadingStaticObjectIdx

Related links

• Launcher PR

How was this PR tested?

• PSIM
• TIER IV Internal Evaluator

Notes for reviewers

None.

Interface changes

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	delay_lane_change.enabled	bool	true	Enable lane change delay feature
Added	delay_lane_change.check_only_parked_vehicle	bool	false	Only consider parked vehicles for delay lane change feature

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	object_check_min_road_shoulder_width	double	0.5	Width considered as a road shoulder if the lane does not have a road shoulder
New	delay_lane_change.min_road_shoulder_width	double	0.5	Width considered as a road shoulder if the lane does not have a road shoulder
Old	object_shiftable_ratio_threshold	double	0.6	Vehicles around the center line within this distance ratio will be excluded from parking objects
New	delay_lane_change.th_parked_vehicle_shift_ratio	double	0.6	Vehicles around the center line within this distance ratio will be excluded from parking objects

Effects on system behavior

Delay lane change feature is more robust, and can be configured to apply for all static objects or only or parked objects.
Less chance of Ego doing lane change before stopped vehicle and getting stuck.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 24.32432% with 28 lines in your changes missing coverage. Please review.

Project coverage is 29.25%. Comparing base (5372403) to head (1f7f615).
Report is 32 commits behind head on main.

Files with missing lines	Patch %	Lines
...havior_path_lane_change_module/src/utils/utils.cpp	3.70%	25 Missing and 1 partial ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	33.33%	2 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #9480   +/-   ##
=======================================
  Coverage   29.24%   29.25%           
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  Files        1442     1444    +2     
  Lines      108555   108540   -15     
  Branches    41528    41502   -26     
=======================================
+ Hits        31750    31752    +2     
+ Misses      73720    73703   -17     
  Partials     3085     3085           

Flag	Coverage Δ		*Carryforward flag
differential	19.93% <24.32%> (?)
total	29.26% <ø> (+0.01%)	⬆️	Carriedforward from 2e25b2c

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

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9480/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-9480/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/

[zulfaqar-azmi-t4]

LGTM!