feat(crosswalk): dyanmic timeout for no intention to walk decision

[takayuki5168]

Description

Currently, the timeout parameter to decide if the pedestrian has the intention to walk to the crosswalk is constant.
In order not to be too conservative, this parameter should depend on the distance from the pedestrian to the crosswalk.
This PR implements the feature.

Tests performed

psim
scenario sim: https://evaluation.tier4.jp/evaluation/reports/18915c07-9a27-5ffc-8a34-5394fd2b4f2b?project_id=prd_jt

Effects on system behavior

nothing

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[takayuki5168]

Copied from here

autoware.universe/control/mpc_lateral_controller/src/mpc.cpp

Lines 739 to 772 in b32f8ef

	VectorXd MPC::calcSteerRateLimitOnTrajectory(
	const MPCTrajectory & trajectory, const double current_velocity) const
	{
	const auto interp = [&](const auto & steer_rate_limit_map, const auto & current) {
	std::vector<double> reference, limits;
	for (const auto & p : steer_rate_limit_map) {
	reference.push_back(p.first);
	limits.push_back(p.second);
	}
	// If the speed is out of range of the reference, apply zero-order hold.
	if (current <= reference.front()) {
	return limits.front();
	}
	if (current >= reference.back()) {
	return limits.back();
	}
	// Apply linear interpolation
	for (size_t i = 0; i < reference.size() - 1; ++i) {
	if (reference.at(i) <= current && current <= reference.at(i + 1)) {
	auto ratio =
	(current - reference.at(i)) / std::max(reference.at(i + 1) - reference.at(i), 1.0e-5);
	ratio = std::clamp(ratio, 0.0, 1.0);
	const auto interp = limits.at(i) + ratio * (limits.at(i + 1) - limits.at(i));
	return interp;
	}
	}
	std::cerr << "MPC::calcSteerRateLimitOnTrajectory() interpolation logic is broken. Command "
	"filter is not working. Please check the code."
	<< std::endl;
	return reference.back();
	};

[codecov]

Codecov Report

Attention: 21 lines in your changes are missing coverage. Please review.

Comparison is base (93b6118) 14.77% compared to head (1e81da2) 14.77%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5188      +/-   ##
==========================================
- Coverage   14.77%   14.77%   -0.01%     
==========================================
  Files        1636     1636              
  Lines      113635   113649      +14     
  Branches    34932    34940       +8     
==========================================
  Hits        16793    16793              
- Misses      78001    78013      +12     
- Partials    18841    18843       +2     

Flag	Coverage Δ		*Carryforward flag
differential	9.41% <0.00%> (?)
total	14.77% <ø> (+<0.01%)	⬆️	Carriedforward from 93b6118

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

Files	Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp	12.33% <ø> (+<0.01%)	⬆️
...em_monitor/src/process_monitor/process_monitor.cpp	0.00% <ø> (ø)
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	0.00% <0.00%> (ø)
...behavior_velocity_crosswalk_module/src/manager.cpp	7.92% <0.00%> (-0.17%)	⬇️
..._velocity_crosswalk_module/src/scene_crosswalk.hpp	0.00% <0.00%> (ø)

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[satoshi-ota]

LGTM