feat(safety_check): add option to use polygon along path in safety check

[satoshi-ota]

Description

⚠️ Please approve following PR first.
autowarefoundation/autoware_launch#865

Current safety_checker assumes that steering angle is fixed during braking and creates rectangle polygon to check safety based on each predicted poses. However, basically it is able to change steering angle anytime. Additionally, previous logic sometimes caused false positive and modules judged unsafe excessively because the detection polygon covered not only adjacent lane but also the area where the ego wouldn't go through.

In this PR, I added option to switch steering policy during breaking from fixed or free.

steering policy: fixed

In this policy, the safety checker creates rectangle polygon based on each predicted poses. (original method)

steering policy: free

In this policy, the safety checker creates polygon along path. Polygon's longitudinal length is calculated by rss parameter.

Tests performed

• TEST WITH XX1
• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Improve avoidance behavior.

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[zulfaqar-azmi-t4]

Thank you @satoshi-ota for the great PR!

Just checking
It seems that the behavior is a little of sometimes.
For example in the video at time after 5s (I also attach image of the polygon at the time), the polygon seems to be straight, then it follows back the curvature of the path.
Is behavior is expected?

cap-.2024-02-15-22-35-24.mp4

[zulfaqar-azmi-t4]

steering as parameter name seems to be odd.
I would suggest either

1. steering_policy, or
2. extended_polygon_policy but the name might be too long.
   I would say steering feels odd because it technically not related to steering.

[satoshi-ota]

Thank you @satoshi-ota for the great PR!

Just checking It seems that the behavior is a little of sometimes. For example in the video at time after 5s (I also attach image of the polygon at the time), the polygon seems to be straight, then it follows back the curvature of the path. Is behavior is expected?

cap-.2024-02-15-22-35-24.mp4

Hmm... No. Something wrong. I'll take a look. Thanks for your review! @zulfaqar-azmi-t4

[satoshi-ota]

steering as parameter name seems to be odd. I would suggest either

1. steering_policy, or
2. extended_polygon_policy but the name might be too long.
   I would say steering feels odd because it technically not related to steering.

extended_polygon_policy seems to be nice!

This is my image.

• extended_polygon_policy
  • along_path
  • rectangle

[satoshi-ota]

@zulfaqar-azmi-t4 I fixed wierd polygon shape in c42fa54.
And, update param name. Could you see again?

[satoshi-ota]

NO REGRESSION.

[zulfaqar-azmi-t4]

LGTM. The behavior looks good!

cap-.2024-02-16-16-42-18.mp4

[codecov]

Codecov Report

Attention: 44 lines in your changes are missing coverage. Please review.

Comparison is base (6b1a459) 14.99% compared to head (d025269) 14.99%.
Report is 7 commits behind head on main.

Files	Patch %	Lines
...mon/src/utils/path_safety_checker/safety_check.cpp	0.00%	43 Missing ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6336      +/-   ##
==========================================
- Coverage   14.99%   14.99%   -0.01%     
==========================================
  Files        1839     1839              
  Lines      127158   127218      +60     
  Branches    38099    38140      +41     
==========================================
+ Hits        19070    19077       +7     
- Misses      86755    86802      +47     
- Partials    21333    21339       +6     

Flag	Coverage Δ		*Carryforward flag
differential	11.09% <0.00%> (?)
total	14.99% <ø> (+<0.01%)	⬆️	Carriedforward from 6b1a459

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