feat(blind_spot): relax stop condition for predicted objects

[soblin]

Signed-off-by: Mamoru Sobue mamoru.sobue@tier4.jp

Description

As of now blind spot module sends stop line if the detected object is in detection_area AND one of the predicted poses is in conflict_area. But this should be relaxed to OR because the predicted poses may not be exactly in conflict_area if the motorbikes are tilted a bit like in the movie.

predicted_path_conflict_area-2022-11-13_16.19.18.mp4

In this movie the stop condition is changed to OR so stop line is generated properly to handle this case.

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[codecov]

Codecov Report

Base: 11.10% // Head: 11.09% // Decreases project coverage by -0.00% ⚠️

Coverage data is based on head (805cb34) compared to base (fd7add5).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2279      +/-   ##
==========================================
- Coverage   11.10%   11.09%   -0.01%     
==========================================
  Files        1208     1208              
  Lines       86573    86614      +41     
  Branches    20827    20856      +29     
==========================================
  Hits         9612     9612              
- Misses      66941    66976      +35     
- Partials    10020    10026       +6     

Flag	Coverage Δ		*Carryforward flag
differential	4.23% <0.00%> (?)
total	11.07% <0.00%> (ø)		Carriedforward from fd7add5

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

Impacted Files	Coverage Δ
...city_planner/src/scene_module/blind_spot/scene.cpp	0.00% <0.00%> (ø)
...y_planner/include/utilization/trajectory_utils.hpp	0.00% <0.00%> (ø)

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[soblin]

@taikitanaka3 @TakaHoribe Can you review this PR ?

[taikitanaka3]

TODO: consider ignore case

[soblin]

I'll merge this, but possibly this PR is not necessary if tracking for the motorbikes is improved,
#2147

[taikitanaka3]

@soblin
PR you mentioned #2147 is already merged, so can you think of reverting this change to consider this case?