feat(intersection): continue detection after pass judge

[soblin]

(1) keep detection(planning) after pass judge line and before keep_detection_line if low speed (2) minor refactor

Signed-off-by: Mamoru Sobue mamoru.sobue@tier4.jp

Description

I changed the intersection module not to stop planning if the ego is over pass judge line because

• (1) sometimes ego cannot stop exactly before the stop line, but with some overshoot
• (2) a stop line from another module (like merge_from_private) is generated at the same place as intersection's one. In this case intersection module should keep detection
• (3) maybe the ego will make obstacle_stop after passing pass judge line

Solution:
If ego is within a margin (like 1.0m) from stop line AND velocity is very low (like 3km/h), keep planning.

Related links

Parameter PR: tier4/autoware_launch#456

Tests performed

before this PR: after stopping at merge_from_private stop line it also passed pass judge line of intersection, so detection is disabled.

before-continue-detection-after-pass-judge-2022-08-29_19.29.16.mp4

After this PR: detection is continued.

continue-detection-after-pass-judge-2022-08-29_19.33.49.mp4

Notes for reviewers

The parameters should be determined based on experiment and rideability.

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[codecov]

Codecov Report

Merging #1719 (188e075) into main (3cae6ec) will decrease coverage by 0.04%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1719      +/-   ##
==========================================
- Coverage   10.28%   10.24%   -0.05%     
==========================================
  Files        1202     1202              
  Lines       86472    86815     +343     
  Branches    19909    20187     +278     
==========================================
  Hits         8894     8894              
- Misses      68318    68624     +306     
- Partials     9260     9297      +37     

Flag	Coverage Δ		*Carryforward flag
differential	4.11% <0.00%> (?)
total	10.26% <0.00%> (ø)		Carriedforward from 3cae6ec

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

Impacted Files	Coverage Δ
...e/scene_module/intersection/scene_intersection.hpp	0.00% <ø> (ø)
..._planner/src/scene_module/intersection/manager.cpp	0.00% <0.00%> (ø)
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)
...ule/intersection/scene_merge_from_private_road.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)

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[tkimura4]

LGTM