feat(obstacle_stop_planner): add filtering feature for predicted objects

[brkay54]

Description

Note: #3556
This should be merged before this PR.

Because there are a lot of predicted objects in real environment, we need to filter it before collision and slowdown checking. It is filtering with respect to following rules.

• Ignore object if it is not front of vehicle
• Ignore object if it's longitudinal distance is far away from trajectory's last point
• Ignore object if lateral distance is high

Related links

PR for launch file: autowarefoundation/autoware_launch#330

Tests performed

Tested in planning simulator:

As you can see, it ignores high lateral distance objects.

Notes for reviewers

Interface changes

Effects on system behavior

There is no behavior change, it only increases node performance by using filtering.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (9f7568c) 13.82% compared to head (fcf3f14) 13.82%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3558      +/-   ##
==========================================
- Coverage   13.82%   13.82%   -0.01%     
==========================================
  Files        1395     1395              
  Lines       98206    98236      +30     
  Branches    29214    29211       -3     
==========================================
  Hits        13579    13579              
- Misses      69950    69976      +26     
- Partials    14677    14681       +4     

Flag	Coverage Δ		*Carryforward flag
differential	8.54% <0.00%> (?)
total	13.85% <ø> (+0.03%)	⬆️	Carriedforward from 9f7568c

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

Impacted Files	Coverage Δ
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	3.68% <ø> (+0.01%)	⬆️
.../scene_module/goal_planner/goal_planner_module.cpp	5.97% <ø> (+0.03%)	⬆️
...th_planner/src/scene_module/lane_change/normal.cpp	6.66% <ø> (+0.02%)	⬆️
...nner/src/scene_module/pull_out/pull_out_module.cpp	3.78% <ø> (+0.06%)	⬆️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	3.83% <ø> (+0.01%)	⬆️
planning/behavior_path_planner/src/utils/utils.cpp	16.04% <ø> (ø)
...top_planner/include/obstacle_stop_planner/node.hpp	0.00% <0.00%> (ø)
...tacle_stop_planner/src/adaptive_cruise_control.cpp	1.52% <0.00%> (-0.13%)	⬇️
planning/obstacle_stop_planner/src/node.cpp	8.86% <0.00%> (+0.04%)	⬆️
... and 1 more

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[satoshi-ota]

@brkay54 Thanks for your improvement. It looks good to me. Lastly, could you fill Effects on system behavior briefly?

[brkay54]

@satoshi-ota Thank you for your review 🙏🏼 , I also rebased other PR too.