fix(lane_change): guard invalid lc start point

[satoshi-ota]

Description

The lane change start pose must NOT be in front of the target_lanelets.front(), and this is check in here.

autoware.universe/planning/behavior_path_planner/src/util/lane_change/util.cpp

Lines 350 to 352 in 90ed30d

	if (prepare_distance < target_distance) {
	break;
	}

On the other hand, this guard doesn't support new architecture that can run multiple modules simultaneously.

If the lane change module uses avoidance path as input path, the start pose is generated on that path. In this case, there is a possibility that the start pose is in front of the target_lanelets.front() even if the above condition is satisfied.

So, I added another condition so that distance (orange line) between lc start pose and target lane's front pose does not have a positive value.

Related links

Tests performed

Notes for reviewers

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (37f67f5) 13.21% compared to head (4883c9f) 13.22%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3257   +/-   ##
=======================================
  Coverage   13.21%   13.22%           
=======================================
  Files        1263     1263           
  Lines       89337    89326   -11     
  Branches    27079    27081    +2     
=======================================
  Hits        11809    11809           
+ Misses      65104    65093   -11     
  Partials    12424    12424           

Flag	Coverage Δ		*Carryforward flag
differential	5.52% <0.00%> (?)
total	13.22% <ø> (+<0.01%)	⬆️	Carriedforward from 4ac0c4a

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

Impacted Files	Coverage Δ
...lanner/include/behavior_path_planner/utilities.hpp	83.33% <ø> (+59.52%)	⬆️
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
...ehavior_path_planner/src/util/lane_change/util.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	7.56% <0.00%> (-0.01%)	⬇️

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

[purewater0901]

LGTM