fix(behavior_path_planner): fix getIntersectionTurnSignal func

[k-obitsu]

Signed-off-by: k-obitsu koichi.obitsu@tier4.jp

Description

Fix getIntersectionTurnSignal function of turn_signal_decider in the following points.

1. In case that the distance of 'turn_signal_distance' is shorter than the distance between two pass points.
   
2. in case that the distance of 'turn_signal_distance' is larger than the distance of 'intersection_search_distance'.

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[codecov]

Codecov Report

Merging #559 (ffad35e) into main (0c6643e) will decrease coverage by 10.93%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #559       +/-   ##
==========================================
- Coverage   10.93%   0.00%   -10.94%     
==========================================
  Files         706      34      -672     
  Lines       49758    4947    -44811     
  Branches     7114       0     -7114     
==========================================
- Hits         5440       0     -5440     
+ Misses      39939    4947    -34992     
+ Partials     4379       0     -4379     

Impacted Files	Coverage Δ
...lude/behavior_path_planner/turn_signal_decider.hpp	0.00% <ø> (ø)
.../behavior_path_planner/src/turn_signal_decider.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.00% <0.00%> (ø)
..._path_planner/src/scene_module/avoidance/debug.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...r/scene_module/avoidance/avoidance_module_data.hpp	0.00% <0.00%> (ø)
...entation/include/ground_segmentation/gencolors.hpp
...ation_merger/data_association/data_association.cpp
...ensorrt_yolo/lib/src/plugins/yolo_layer_plugin.cpp
... and 669 more

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[yukkysaito]

@k-obitsu What kind of verification did you do to make sure this feature was working correctly?

[k-obitsu]

• The environment used for verification is as same as in the following JIRA ticket.
  https://tier4.atlassian.net/browse/EVT4-1753
  └VM(右折)：turnRIGHT_turn_signal_dist20m_base_idemitsu_anegasaki_r5.osm
  [https://eva.app.box.com/file/880875557814 - (https://eva.app.box.com/file/880875557814)
  └VM(左折)：turnLEFT_turn_signal_dist20m_base_idemitsu_anegasaki_r5.osm
  [https://eva.app.box.com/file/880873090253 - (https://eva.app.box.com/file/880873090253)
  └PCD：inside.pcd - (https://eva.app.box.com/file/766597558549?s=4n2uyvws6jqevuxi89irow1d7q52296a)

• I have verified the following and confirmed that it works corectly.

  • Set the value of turn_signal_distance of the VM as follows.
    • turn signal distance = 20m : Turned on the turn signal at 15m (intersection search distance is 15m)
    • turn signal distance = 15m : Turned on the turn signal at 15m
    • turn signal distance = 5m : Turned on the turn signal at 5m
    • turn signal distance = 3m : Turned on the turn signal at 3m
    • turn signal distance = 1m : Turned on the turn signal at 1m
    • turn signal distance = 0m : Turned on the turn signal at 1m (minimum distance of turn signal distance is 1m)

[takayuki5168]

path_distance should be defined in this scope, not outside this for loop.

[k-obitsu]

Fixed the above.

[takayuki5168]

judge_distance should be defined in this scope, not outside this for loop.
Better to write like this

double judge_distance = 0.0;
if (turn_distance < path_distance) {
  judge_distance = turn_distance - path_distance;
  turn_distance += turn_signal_distance_threshold_;
}

[k-obitsu]

Fixed the above.

[takayuki5168]

} else {
        judge_distance = 0.0;
      }

can be removed as well

[takayuki5168]

turn_distance should be defined in this scope, not outside this for loop.

[k-obitsu]

Fixed the above.