feat(avoidance): wait next shift approval until the ego reaches shift length threshold

[satoshi-ota]

Description

Related ticket: https://tier4.atlassian.net/browse/RT1-5327
Related PR: autowarefoundation/autoware_launch#891

Previously, avoidance module created return shift path and approved it as soon as possible. However, I think it is better to wait return shift approval because sometimes the vehicle can't detect objcets behind avoidance target. Othrewise, there is a possibility that the vehicle can't avoid behind object in following situaiton. (avoidance module creats return shift path even when there is anothre object behind current avoidance target.)

In this PR, I added a param to delay return shift approval.

          # approve next shift line after reaching this percentage of current shift line length.
          # this param is added so that it can wait return shift approval until the behind occlusion of avoid target is clear.
          # it's able to disable this feature by setting this param 0.0.
          ratio_for_return_shift_approval: 0.5          # [-]

If we set this param to 0.3, the module creates return shift path after reaching 70% of avoidance shift lateral length.

simplescreenrecorder-2024-02-27_17.59.51.mp4

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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.

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.

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

[shmpwk]

Aside from the explanatoin, LGTM!

[shmpwk]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 14 lines in your changes are missing coverage. Please review.

Project coverage is 14.63%. Comparing base (e64415b) to head (38a377a).
Report is 2 commits behind head on main.

Files	Patch %	Lines
.../include/behavior_path_avoidance_module/helper.hpp	0.00%	5 Missing and 2 partials ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp	0.00%	2 Missing and 3 partials ⚠️
...nning/behavior_path_avoidance_module/src/scene.cpp	0.00%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6501      +/-   ##
==========================================
- Coverage   14.63%   14.63%   -0.01%     
==========================================
  Files        1900     1900              
  Lines      130645   130658      +13     
  Branches    38381    38390       +9     
==========================================
  Hits        19123    19123              
- Misses      90064    90071       +7     
- Partials    21458    21464       +6     

Flag	Coverage Δ		*Carryforward flag
differential	12.98% <0.00%> (?)
total	14.63% <ø> (+<0.01%)	⬆️	Carriedforward from e64415b

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[xmfcx]

https://github.com/autowarefoundation/autoware.universe/actions/runs/8073426410/job/22057072499?pr=6501 was successful and auto-merge was enabled anyways.

I'm canceling the cuda job and merging directly because this code doesn't make any cuda related changes.