feat(map_based_prediction): update lane change decision logic

[YoshiRi]

Signed-off-by: yoshiri yoshiyoshidetteiu@gmail.com

Description

Try to update lane change decision logic.

New logic uses following information as decision threshold.

1. distance from left/right boundary
2. predicted time to reach left/right boundary = distance / lateral speed

Actual LC decision fires when:

• bounding box center is close enough to reach left/right boundary
• predicted arrival time is shorter than threshold
• (vehicle is approaching to boundary)

Related Internal links

• TIER IV Internal link 1
• TIER IV Internal link 2

Tests performed

This method uses low-pass filtered lateral speed so that it prevents chattering and gives more stable prediction.

Both filter cut-off and time margin are decided by analyzing real lane changing data.

time margin with raw lateral velocity	time margin with filtered lateral velocity

• Lowpass cut-off frequency: 0.1Hz
• time margin: 5.0 s

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[codecov]

Codecov Report

Base: 11.54% // Head: 11.50% // Decreases project coverage by -0.05% ⚠️

Coverage data is based on head (a975dfd) compared to base (c1a98f7).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2822      +/-   ##
==========================================
- Coverage   11.54%   11.50%   -0.05%     
==========================================
  Files        1309     1309              
  Lines       91355    91676     +321     
  Branches    24247    24247              
==========================================
  Hits        10547    10547              
- Misses      69766    70087     +321     
  Partials    11042    11042              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	11.55% <0.00%> (+<0.01%)	⬆️	Carriedforward from 59dc3ce

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

Impacted Files	Coverage Δ
...map_based_prediction/map_based_prediction_node.hpp	0.00% <ø> (ø)
...based_prediction/src/map_based_prediction_node.cpp	0.00% <0.00%> (ø)
...eption/map_based_prediction/src/path_generator.cpp	0.00% <0.00%> (ø)

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[YoshiRi]

Old parameters in config file should be updated either. -> fixed in e746228.

[purewater0901]

LGTM