fix(AEB): ego to object distance calculation logic with predicted path

[ismetatabay]

Description

Fixes #5931

This PR fixes the calculation of ego to object distance.

At the following motion_utils::calcSignedArcLength function:

autoware.universe/control/autonomous_emergency_braking/src/node.cpp

Lines 367 to 368 in f63ad33

	const double dist_ego_to_object =
	motion_utils::calcSignedArcLength(ego_path, current_p, obj.position) -

For instance, the predicted trajectory points of 'ego_path' have a size of 50, with only 15 predicted points provided. Consequently, the remaining 35 points have coordinates x: 0, y: 0, z: 0. As we've set 'current_p' to x: 0, y: 0, z: 0, the distance calculation becomes impossible. To resolve this issue, we need to utilize 'current_p' as the first index of 'ego_path' for calculating the distance between the ego and the object.

autoware.universe/control/autonomous_emergency_braking/src/node.cpp

Line 361 in f63ad33

const auto current_p = tier4_autoware_utils::createPoint(0.0, 0.0, 0.0);

Related links

• The Autonomous Emergency Brake (AEB) does not perform as expected when only using the predicted trajectory. #5931

Tests performed

Planning Sim

(Only use_predicted_trajectory is set as true)

2023-12-21.16-28-44.mp4

Notes for reviewers

Effects on system behavior

Not applicable.

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[ismetatabay]

@TakaHoribe-san, @tkimura4-san can you check this PR and the following issue:

• The Autonomous Emergency Brake (AEB) does not perform as expected when only using the predicted trajectory. #5931

I think it is important for the utilizing AEB module with latest Autoware.

[codecov]

Codecov Report

Attention: 8 lines in your changes are missing coverage. Please review.

Comparison is base (f63ad33) 15.29% compared to head (05f5595) 15.29%.

Files	Patch %	Lines
control/autonomous_emergency_braking/src/node.cpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5930      +/-   ##
==========================================
- Coverage   15.29%   15.29%   -0.01%     
==========================================
  Files        1750     1750              
  Lines      120380   120382       +2     
  Branches    36723    36723              
==========================================
  Hits        18408    18408              
- Misses      81318    81320       +2     
  Partials    20654    20654              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	15.29% <ø> (+<0.01%)	⬆️	Carriedforward from f63ad33

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[tkimura4]

Thank you! LGTM!