fix(behavior_path_planner): lane change intersection stop

[zulfaqar-azmi-t4]

fixing lane change stopping before lane change prohibited area.
currently the stop function is not working so properly.

Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

Description

In current lane change module, if the goal pose is slightly after intersection, and the minimum distance to perform lane change is insufficient, ego vehicle should stop before the intersection.

However, at the present module, ego stop before intersection, but the distance is not enough to perform lane change. example is as follows

This pr aims to solve this issue by fixing the bug. In addition to the intersection length, we should also consider the stopping distance. the result is as follows.

Related links

Tests performed

Using psim and test lane change scenario.

1. disable rtc auto approval for lane change.

ros2 service call /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change_left/enable_auto_mode tier4_rtc_msgs/srv/AutoMode enable:\ false && ros2 service call /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change_right/enable_auto_mode tier4_rtc_msgs/srv/AutoMode enable:\ false

2. place ego 20 - 30 meters away from intersection.
3. place the goal slightly after intersection.
4. engage vehicle.
5. Ego vehicle should stop before intersection, and lane change is possible.

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[codecov]

Codecov Report

Merging #1480 (a58398c) into main (420b591) will increase coverage by 0.13%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1480      +/-   ##
==========================================
+ Coverage   10.18%   10.31%   +0.13%     
==========================================
  Files        1135     1135              
  Lines       78538    74956    -3582     
  Branches    17891    17726     -165     
==========================================
- Hits         7998     7731     -267     
+ Misses      62922    59863    -3059     
+ Partials     7618     7362     -256     

Flag	Coverage Δ		*Carryforward flag
differential	0.79% <0.00%> (?)
total	10.34% <0.00%> (+0.17%)	⬆️	Carriedforward from 10e6e06

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

Impacted Files	Coverage Δ
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <ø> (ø)
...ne_module/lane_following/lane_following_module.cpp	0.00% <ø> (ø)
planning/behavior_path_planner/src/utilities.cpp	1.03% <0.00%> (-0.02%)	⬇️
...auto_common/include/helper_functions/type_name.hpp	66.66% <0.00%> (-33.34%)	⬇️
..._utils/include/grid_map_utils/polygon_iterator.hpp	50.00% <0.00%> (-25.00%)	⬇️
...or/include/planning_error_monitor/debug_marker.hpp	50.00% <0.00%> (-25.00%)	⬇️
map/lanelet2_extension/lib/route_checker.cpp	77.77% <0.00%> (-11.12%)	⬇️
...oware_auto_geometry/test/src/test_hull_pockets.cpp	45.65% <0.00%> (-10.60%)	⬇️
...autoware_auto_geometry/test/src/test_common_2d.cpp	42.85% <0.00%> (-10.48%)	⬇️
...ion/include/fault_injection/diagnostic_storage.hpp	53.84% <0.00%> (-7.70%)	⬇️
... and 543 more

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[rej55]

LGTM