feat(avoidance): improve avoidance target filter

[satoshi-ota]

Description

• This PR contains two improvement

1. Use Envelope Polygon for measure against perception noise

Since object recognition results contain noise related to position ,orientation and boundary size, if the raw object recognition results are used in path generation, the avoidance path will be directly affected by the noise.

Therefore, in order to reduce the influence of the noise, avoidance module generate a envelope polygon for the avoidance target that covers it, and the avoidance path should be generated based on that polygon. The envelope polygons are generated so that they are parallel to the reference path and the polygon size is larger than the avoidance target (define by object_envelope_buffer). The position and size of the polygon is not updated as long as the avoidance target exists within that polygon.

# default value
object_envelope_buffer: 0.3 # [m]

2. Use moving time for measure against perception noise

Since object recognition results contain noise related to object velocity, if only the object raw velocity are used in avoidance target filtering process, the results will be directly affected by the noise.

Therefore, even if a stopped object starts moving, it is judged to be stopped as long as it does not continue to move more than threshold_time_object_is_moving sec.

# default value
threshold_time_object_is_moving: 1.0 # [s]

Related links

Tests performed

envelope polygon is included in topic /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance and the namespace is target_objects_envelope_polygon.

Notes for reviewers

simplescreenrecorder-2022-11-14_11.07.20.mp4

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[codecov]

Codecov Report

Base: 10.50% // Head: 10.38% // Decreases project coverage by -0.11% ⚠️

Coverage data is based on head (653c580) compared to base (0a56b56).
Patch coverage: 0.86% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2282      +/-   ##
==========================================
- Coverage   10.50%   10.38%   -0.12%     
==========================================
  Files        1248     1248              
  Lines       90608    91606     +998     
  Branches    20728    21483     +755     
==========================================
- Hits         9517     9515       -2     
- Misses      70996    71934     +938     
- Partials    10095    10157      +62     

Flag	Coverage Δ		*Carryforward flag
differential	3.30% <0.00%> (?)
total	10.47% <1.65%> (-0.01%)	⬇️	Carriedforward from b017da2

*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)
...or_path_planner/src/behavior_path_planner_node.cpp	0.15% <0.00%> (-0.05%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
..._path_planner/src/scene_module/avoidance/debug.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/avoidance/avoidance_utils.cpp	3.06% <2.85%> (-0.07%)	⬇️
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	73.58% <0.00%> (-9.44%)	⬇️
... and 3 more

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[satoshi-ota]

update docs in the other PR.

[satoshi-ota]

@TakaHoribe @rej55 @zulfaqar-azmi-t4 @mkuri Could you review this PR ?

[zulfaqar-azmi-t4]

Nice! The result seems to be promising

cap-.2022-11-16-01-15-28.mp4.mp4

cap-.2022-11-16-01-16-55.mp4.mp4

[satoshi-ota]

@TakaHoribe @zulfaqar-azmi-t4 @rej55
Evaluator Test Result[TIER IV INTERNAL]

BaseLine (822/825)
This PR (824/825) 🎉

[zulfaqar-azmi-t4]

Great! LGTM!