feat(dynamic_avoidance): precise cut-out decision

[takayuki5168]

Description

More precise cut out decision of target objects for dynamic avoidance.
This PR checks if the object to cut out was inside the ego's path a few seconds before cutting out.

Tests performed

planning simulator

Effects on system behavior

Precise cut out decision of target objects for dynamic avoidance

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Summary by CodeRabbit

Release Notes:

• New Feature: Added two new parameters to control cut-out decision for target objects in dynamic avoidance.
• Refactor: Updated data structures and methods in the DynamicAvoidanceModule and TargetObjectsManager classes.

"In the realm of dynamic avoidance,
Parameters now grant precision.
Cut-out decisions, under control,
Target objects dance with a new role.
Refactored structures, methods refined,
Codebase shines, complexity declined."

[codecov]

Codecov Report

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

Comparison is base (0fa8b57) 14.85% compared to head (32eaee2) 14.84%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4527      +/-   ##
==========================================
- Coverage   14.85%   14.84%   -0.01%     
==========================================
  Files        1521     1521              
  Lines      105231   105271      +40     
  Branches    32020    32047      +27     
==========================================
  Hits        15631    15631              
- Misses      72529    72571      +42     
+ Partials    17071    17069       -2     

Flag	Coverage Δ		*Carryforward flag
differential	13.15% <0.00%> (?)
total	14.85% <ø> (+<0.01%)	⬆️	Carriedforward from 0fa8b57

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

Files Changed	Coverage Δ
...anner/include/behavior_path_planner/parameters.hpp	50.00% <ø> (ø)
...ule/dynamic_avoidance/dynamic_avoidance_module.hpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	26.71% <ø> (+0.09%)	⬆️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/dynamic_avoidance/manager.cpp	0.00% <0.00%> (ø)

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[github-actions]

CodeRabbit

Walkthrough

The changes introduce updates to the DynamicAvoidanceModule class and related classes in the behavior_path_planner module. The DynamicAvoidanceModule class now has two new parameters in the DynamicAvoidanceParameters struct and additional fields in the DynamicAvoidanceObject struct. The DynamicAvoidanceObject struct also includes a new update method. The TargetObjectsManager class has a new updateObject method. The willObjectCutOut method in DynamicAvoidanceModule receives an extra parameter, and the getLateralLongitudinalOffset method receives two additional parameters. Additionally, the DynamicAvoidanceModuleManager class in manager.cpp introduces new parameters to control the cut-out decision for target objects in dynamic avoidance.

Changes

File	Summary
planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp	Updates the DynamicAvoidanceModule class with new parameters and updates the DynamicAvoidanceObject struct with additional fields and a new method. Also adds a new method to the TargetObjectsManager class.
planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp	Introduces new parameters to control the cut-out decision for target objects in dynamic avoidance in the DynamicAvoidanceModuleManager class.

[github-actions]

CodeRabbit

Commits

Files that changed from the base of the PR and between 4811435 and d0b923c commits.

Files selected (3)

• planning/behavior_path_planner/include/behavior_path_planner/scene_module/dynamic_avoidance/dynamic_avoidance_module.hpp (6)
• planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp (7)
• planning/behavior_path_planner/src/scene_module/dynamic_avoidance/manager.cpp (2)

Files not summarized due to errors (1)

• planning/behavior_path_planner/src/scene_module/dynamic_avoidance/dynamic_avoidance_module.cpp (diff tokens exceeds limit)

Review comments generated (3)

• Review: 2
• LGTM: 1

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[github-actions]

CodeRabbit

The code for updating target_objects_ can be simplified using the std::copy_if algorithm. Instead of manually iterating over target_objects_candidate and checking the condition, you can use std::copy_if to copy the elements that satisfy the condition directly into target_objects_. Here's an example:

const auto target_objects_candidate = target_objects_manager_.getValidObjects();
target_objects_.clear();
std::copy_if(target_objects_candidate.begin(), target_objects_candidate.end(),
             std::back_inserter(target_objects_),
             [](const auto& target_object_candidate) {
                 return target_object_candidate.should_be_avoided;
             });