Feature/default matching distance

[hakuturu583]

Description

Abstract

• Unify the calculation criteria of threshold values used for lane coordinate system pose calculation to some extent for each Entity.
• Changed MiscObject/Pedestrian Entity to take crosswalks into account.

Background

In #1189 and #1192, it was indicated that the existing lane coordinate system calculations were extremely complex, with different thresholds in various places, etc., and that it was presumed that proper processing was not being done.

Details

• Unify the calculation criteria of threshold values used for lane coordinate system pose calculation to some extent for each Entity.
  • The matching distance values for the pose calculation in the lane coordinate system varied depending on various conditions. These were simplified and changed to basically use the matching distance determined for each Entity.
  • If the entity is the Ego or Vehicle entity, let $L_m$ be the length of the horizontal bar used in the lane coordinate system calculation and the tread of the front wheels be $t_f$ and the tread of the rear wheels be $t_r$. $$L_m = max(t_r, t_f) + 2.0$$
  • If the entity is the Pedestrian or MiscObject entity, let $L_m$ be the length of the horizontal bar used in the lane coordinate system calculation and width of the bounding box be $L_w$ $$L_m = L_w + 2.0$$

• Changed MiscObject/Pedestrian Entity to take crosswalks into account
  • They were set not to be taken into account for all Entities at spawn.

References

Related issues / Pull requests

#1189
This pull request is depends on #1192. This pull request become ready for review after merging #1192.

Regression test result

https://github.com/tier4/sim_evaluation_tools/issues/244

Destructive Changes

Although this Pull Request does not significantly change the processing flow of the existing algorithm, 100% backward compatibility does not exist because some of the thresholds have been changed.
However, it is assumed that the impact will be limited to a level that does not affect the existing scenario.
In fact, it has been confirmed that regression does not occur in existing scenarios.
See test log for details.

Known Limitations

This Pull Request only changes the thresholds of the existing algorithm, and no major processing method changes exist.
Therefore, the specification that the lane coordinate system calculation fails if the horizontal bar extending from the Entity does not touch the curve at the center of the lane remains.

[github-actions]

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