feat(lane_change): add param for a lateral distance margin where the abort can be performed

[TakaHoribe]

Description

Add a parameter for the "abort" execution. If the ego is over the lane with the given threshold, abort will not be performed.

launcher: autowarefoundation/autoware_launch#421

Related links

None

Tests performed

Run Psim.

In the video below, the debug marker is temporally visualized. The "abort" can be performed when the polygon is green, and prohibited when it is red.

With margin = 0.0

lc-abort-check-margin-0-.2023-06-26-18-21-38.mp4

With margin = 1.0

lc-abort-check-margin-1-.2023-06-26-18-23-21.mp4

Note: the computing time changes slightly. 0.019[ms] -> 0.030[ms]

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.94 ⚠️

Comparison is base (084c7e2) 15.29% compared to head (ff70591) 14.36%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4083      +/-   ##
==========================================
- Coverage   15.29%   14.36%   -0.94%     
==========================================
  Files        1461     1566     +105     
  Lines      101218   108238    +7020     
  Branches    31216    31649     +433     
==========================================
+ Hits        15484    15545      +61     
- Misses      68899    75815    +6916     
- Partials    16835    16878      +43     

Flag	Coverage Δ		*Carryforward flag
differential	13.57% <0.00%> (?)
total	14.37% <ø> (-0.93%)	⬇️	Carriedforward from 5e655cc

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

Impacted Files	Coverage Δ
...th_planner/scene_module/lane_change/base_class.hpp	16.27% <0.00%> (ø)
...nner/utils/lane_change/lane_change_module_data.hpp	50.00% <ø> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	18.29% <0.00%> (-0.08%)	⬇️
...th_planner/src/scene_module/lane_change/normal.cpp	3.81% <0.00%> (-1.02%)	⬇️
planning/behavior_path_planner/src/utils/utils.cpp	15.29% <0.00%> (-0.03%)	⬇️

... and 117 files with indirect coverage changes

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[rej55]

LGTM