fix(lane_change): relax finish judge

[zulfaqar-azmi-t4]

Description

⚠️ Require this PR to be merged together (autowarefoundation/autoware_launch#1087)

Current lane change finish judge requires both of the following condition

1. Ego vehicle drive pass the end pose, and
2. Ego vehicle is near target lane center line.

However, in situation when lc is running simultaneously with other module especially avoidance module, it will be difficult to pass both condition at the same time. Furthermore, passing both situation is unnecessary.

Before PR, the following simulation will not cause lane change to complete. The video is after PR is made.

cap-.2024-05-30-19-14-35.mp4

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	finish_judge_lateral_angle_deviation	double	1.0	Unit is degree. Ego vehicle angle deviation to judge lane change finished

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	finish_judge_lateral_threshold	double	0.2	lateral distance to judge lane change has finished
New	finish_judge_lateral_threshold	double	0.1	lateral distance to judge lane change has finished

Effects on system behavior

None.

[github-actions]

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8133/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-8133/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/

[codecov]

Codecov Report

Attention: Patch coverage is 22.22222% with 14 lines in your changes missing coverage. Please review.

Project coverage is 10.91%. Comparing base (3d849e9) to head (c6f31fb).
Report is 975 commits behind head on main.

Files	Patch %	Lines
...are_behavior_path_lane_change_module/src/scene.cpp	0.00%	9 Missing ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp	0.00%	5 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #8133       +/-   ##
===========================================
- Coverage   15.09%   10.91%    -4.18%     
===========================================
  Files        1967      267     -1700     
  Lines      135941    27467   -108474     
  Branches    42122     4853    -37269     
===========================================
- Hits        20520     2998    -17522     
+ Misses      92700    24093    -68607     
+ Partials    22721      376    -22345     

Flag	Coverage Δ
differential	10.91% <22.22%> (?)
total	?

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