fix(obstacle_cruise_planner): ignore invalid stopping objects

[KYabuuchi]

Description

This PR modifies the conditions for obstacles that should be yielded to.

According to the README, stopping objects must meet the following three conditions:

1. The object type is designated by obstacle_filtering.object_type.* .
2. The lateral offset between the stopping object and the moving object is within yield.max_lat_dist_between_obstacles.
3. The lateral offset of the stopping object from the ego trajectory is within yield.max_lat_dist_between_obstacles + yield.max_lat_dist_between_obstacles .

However, the current implementation does not check condition ① . 🧑‍🔧 This PR adds the missing condition ① to the filtering logic.

Note

🧑‍🔧 Additionally, I have added a filtering type for stopping objects.

Related links

autoware_launch PR

• fix(obstacle_cruise_planner): ignore invalid stopping objects autoware_launch#1354

Private Links:

• TIER IV internal link(RT0-35652)

How was this PR tested?

planning_simulator.launch.xml + manual obstacle placing (rviz plugin)

before	after
❌ Yielded to obstacles behind an UNKNOWN	✔️ Did not yield to obstacles behind an UNKNOWN

✔️ Even after this change, the ego vehicle yielded when the specified type is ahead

planning_simulator.launch.xml + perception_reproducer

• I used this rosbag TIER IV internal link(rosbag)

before	after
❌ Yielded to obstacles behind an UNKNOWN	✔️ Did not yield to obstacles behind an UNKNOWN

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 7 lines in your changes missing coverage. Please review.

Project coverage is 26.23%. Comparing base (5be1ee3) to head (1665888).
Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...tacle_cruise_module/src/obstacle_cruise_module.cpp	0.00%	6 Missing ⚠️
...velocity_obstacle_cruise_module/src/parameters.hpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10227      +/-   ##
==========================================
- Coverage   26.24%   26.23%   -0.01%     
==========================================
  Files        1378     1378              
  Lines      107415   107448      +33     
  Branches    41411    41413       +2     
==========================================
  Hits        28189    28189              
- Misses      76412    76445      +33     
  Partials     2814     2814              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	26.24% <ø> (+<0.01%)	⬆️	Carriedforward from 5be1ee3

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[takayuki5168]

Thank you for the PR!
The object type with is_outside_cruise_obstacle is for the object to follow.

In this PR's case, the object type you are going to change is not the object to follow. So can you define this additional object type in the yaml file like the following?

      obstacle_filtering:
        object_type:
          inside:
            unknown: true
            car: true
            truck: true
            bus: true
            trailer: true
            motorcycle: true
            bicycle: true
            pedestrian: false

          outside:
            unknown: false
            car: true
            truck: true
            bus: true
            trailer: true
            motorcycle: true
            bicycle: false
            pedestrian: false

          blocking: # <- new: "blocking" is very confusing. Please think about a better name. 
            unknown: false
            car: true
            truck: true
            bus: true
            trailer: true
            motorcycle: true
            bicycle: false
            pedestrian: false

[KYabuuchi]

@takayuki5168 Hi. I added the ahead_stopped parameter based on your feedback.

I couldn't come up with a better parameter name either. So if you have any suggestions for a more appropriate name, please let me know. 🙏

[takayuki5168]

Thank you for the fix!