fix(behavior_path_planner): add function to check the shift points in avoidance module

[shulanbushangshu]

Description

To solve #706

We can add function to detect points with offset distance to make sure they are within the drivable zone.
We can determine whether the offset points are all in the driveable lane in the generateAvoidancePath of avoidance module(Consider the width of the vehicle when detecting),otherwise we use reference_path as the obstacle avoidance path(No obstacle avoidance behavior)

Related links

Wrong path planned by avoidance module in a special case #706

Tests performed

Case1:
1.Run planning_simulator.
2.place ego position and goal
3. Set a obstacle near discontinuous adjacent lanes
4. result -- ego vehicle stops

Case2:
1.Run planning_simulator.
2.place ego position and goal
3. Set a obstacle in continuous adjacent lanes
4. result-- ego vehicle bypasses obstacle

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[codecov]

Codecov Report

Merging #794 (7355374) into main (a72a2f2) will decrease coverage by 0.11%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #794      +/-   ##
========================================
- Coverage   9.55%   9.44%   -0.12%     
========================================
  Files        935     935              
  Lines      57795   58488     +693     
  Branches   10430   10430              
========================================
  Hits        5522    5522              
- Misses     47734   48427     +693     
  Partials    4539    4539              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.55% <0.00%> (ø)		Carriedforward from 0795c1b

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

Impacted Files	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
...r/scene_module/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/avoidance/avoidance_utils.cpp	0.00% <0.00%> (ø)

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[yukkysaito]

@takayuki5168 @rej55 Can you review this PR?

[takayuki5168]

I guess it's better to be reviewed by @TakaHoribe @zulfaqar-azmi-t4 🙏

[zulfaqar-azmi-t4]

@shulanbushangshu
Sorry for the many comments.
Some additional comments include you need to pass DCO.
if you want to fix DOC
git rebase <branch> --signoff

[takayuki5168]

git rebase --signoff

Or we just push "Set DCO to pass" button here.

[shulanbushangshu]

Thank you.I will fix the DCO

[zulfaqar-azmi-t4]

@shulanbushangshu
I deeply apologize for the delay.
I've checked your solution using

1. single obstacle
2. dual obstacles

For single obstacle case, the solution works.
But when dual obstacle situation, the solution might be off.
Please refer to the following videos for example. (sorry again due to some technical issue, the video doesn't show full frame, but i think it should be sufficient)

review_after2.mp4

Let me illustrate the acceptable result first, as 1m36s: if furthest obstacle was ignored (path not shifted) but if we place an obstacle ahead, the path will still remain shifted if the condition is acceptable.

Then in your proposed solution, when the furthest obstacle near the discontinued path was ignore, when we place the obstacle ahead (0m24s), the new obstacle is also ignored.

[shulanbushangshu]

Thank you for checking. I have seen what you mean in the example.I will continue to improve related features.

…

________________________________ 发件人: Zulfaqar Azmi ***@***.***> 发送时间: 2022年5月25日 13:22 收件人: autowarefoundation/autoware.universe ***@***.***> 抄送: Song Shaojie ***@***.***>; Mention ***@***.***> 主题: Re: [autowarefoundation/autoware.universe] fix(behavior_path_planner): add function to check the shift points in avoidance module (PR #794) @shulanbushangshu<https://github.com/shulanbushangshu> I deeply apologize for the delay. I've checked your solution using 1. single obstacle 2. dual obstacles For single obstacle case, the solution works. But when dual obstacle situation, the solution might be off. Please refer to the following videos for example. (sorry again due to some technical issue, the video doesn't show full frame, but i think it should be sufficient) https://user-images.githubusercontent.com/93502286/170184933-0ef57c32-7ab9-4f19-97bd-8902cb8e4670.mp4 Let me illustrate the acceptable result first, as 1m36s: if furthest obstacle was ignored (path not shifted) but if we place an obstacle ahead, the path will still remain shifted if the condition is acceptable. Then in your proposed solution, when the furthest obstacle near the discontinued path was ignore, when we place the obstacle ahead (0m24s), the new obstacle is also ignored. ― Reply to this email directly, view it on GitHub<#794 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AYQTU2VRPTGJGQPW4SN2IWLVLW2LBANCNFSM5UHOAQYQ>. You are receiving this because you were mentioned.Message ID: ***@***.***>

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[shulanbushangshu]

I close this pr and will test this issue in the newest code.
If this issue occurs in the newest code,I will work on another pr.