feat(behavior_path_planner, start_planner,goal_planner,lane_change,avoidance): implement a general behavior turn signal algorithm

[danielsanchezaran]

Description

This PR aims at generalizing the method by which the behavior_path modules compute their output TurnSignalInfo. The implementation is based on the original calcTurnSignal implementation by the avoidance module, with some extra boolean inputs to accommodate how different modules work (Lane change, for example, shifts the target lane and not the ego's current lane). The method also detects when the ego vehicle is stuck (because a stop wall, a pedestrian) and cancels the turn signal if the ego vehicle is close to finishing its shifted path.

I believe the generalized behavior will prove useful when debugging problems with the blinkers and will facilitate the creation of new modules.

The methods have been tested in simulated scenarios and automated tests with seemingly no problems.

Examples:

Tests with the start planner, using shift pull out, geometric planners

start_planner_generalized_turn_signal.mp4

Tests for the LC and avoidance modules:

LC_and_avoidance_generalized_turn_signal.mp4

Full test for start planner ,goal planner & avoidance

cap-.2024-03-15-14-32-20.mp4

Backwards movement with geometric pullout:

cap-.2024-03-15-14-39-23.mp4

Related links

EVALUATOR TESTS -> No degradation: TIER IV INTERNAL LINK

Tests performed

PSIM
EVALUATOR TESTS -> No degradation: TIER IV INTERNAL LINK

Notes for reviewers

Interface changes

Effects on system behavior

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[danielsanchezaran]

Separating this PR into several.