feat(lane_change): use external velocity limit in safety check (autowarefoundation#6760)

* feat(lane_change): use external velocity limit in safety check

Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>

* style(pre-commit): autofix

* Minor refactoring

Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>

* Fix spell check and remove headers

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Add warning

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar <zulfaqar.azmi@tier4.jp>
Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Author: zulfaqar-azmi-t4

planning/behavior_path_planner_common/include/behavior_path_planner_common/data_manager.hpp

@@ -38,6 +38,7 @@
 #include <geometry_msgs/msg/pose_stamped.hpp>
 #include <nav_msgs/msg/occupancy_grid.hpp>
 #include <nav_msgs/msg/odometry.hpp>
+#include <tier4_planning_msgs/msg/detail/velocity_limit__struct.hpp>
 #include <tier4_planning_msgs/msg/lateral_offset.hpp>
 
 #include <limits>
@@ -65,6 +66,7 @@ using route_handler::RouteHandler;
 using tier4_planning_msgs::msg::LateralOffset;
 using PlanResult = PathWithLaneId::SharedPtr;
 using lanelet::TrafficLight;
+using tier4_planning_msgs::msg::VelocityLimit;
 using unique_identifier_msgs::msg::UUID;
 
 struct TrafficSignalStamped
@@ -161,6 +163,7 @@ struct PlannerData
   std::map<int64_t, TrafficSignalStamped> traffic_light_id_map;
   BehaviorPathPlannerParameters parameters{};
   drivable_area_expansion::DrivableAreaExpansionParameters drivable_area_expansion_parameters{};
+  VelocityLimit::ConstSharedPtr external_limit_max_velocity{};
 
   mutable std::vector<geometry_msgs::msg::Pose> drivable_area_expansion_prev_path_poses{};
   mutable std::vector<double> drivable_area_expansion_prev_curvatures{};

planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/safety_check.hpp

@@ -141,7 +141,7 @@ std::vector<Polygon2d> getCollidedPolygons(
   const ExtendedPredictedObject & target_object,
   const PredictedPathWithPolygon & target_object_path,
   const BehaviorPathPlannerParameters & common_parameters, const RSSparams & rss_parameters,
-  const double hysteresis_factor, CollisionCheckDebug & debug);
+  const double hysteresis_factor, const double max_velocity_limit, CollisionCheckDebug & debug);
 
 bool checkPolygonsIntersects(
   const std::vector<Polygon2d> & polys_1, const std::vector<Polygon2d> & polys_2);

planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp

@@ -26,6 +26,8 @@
 #include <boost/geometry/algorithms/union.hpp>
 #include <boost/geometry/strategies/strategies.hpp>
 
+#include <limits>
+
 namespace behavior_path_planner::utils::path_safety_checker
 {
 
@@ -560,7 +562,7 @@ bool checkCollision(
 {
   const auto collided_polygons = getCollidedPolygons(
     planned_path, predicted_ego_path, target_object, target_object_path, common_parameters,
-    rss_parameters, hysteresis_factor, debug);
+    rss_parameters, hysteresis_factor, std::numeric_limits<double>::max(), debug);
   return collided_polygons.empty();
 }
 
@@ -570,7 +572,7 @@ std::vector<Polygon2d> getCollidedPolygons(
   const ExtendedPredictedObject & target_object,
   const PredictedPathWithPolygon & target_object_path,
   const BehaviorPathPlannerParameters & common_parameters, const RSSparams & rss_parameters,
-  double hysteresis_factor, CollisionCheckDebug & debug)
+  double hysteresis_factor, const double max_velocity_limit, CollisionCheckDebug & debug)
 {
   {
     debug.ego_predicted_path = predicted_ego_path;
@@ -586,7 +588,7 @@ std::vector<Polygon2d> getCollidedPolygons(
     // get object information at current time
     const auto & obj_pose = obj_pose_with_poly.pose;
     const auto & obj_polygon = obj_pose_with_poly.poly;
-    const auto & object_velocity = obj_pose_with_poly.velocity;
+    const auto object_velocity = obj_pose_with_poly.velocity;
 
     // get ego information at current time
     // Note: we can create these polygons in advance. However, it can decrease the readability and
@@ -599,7 +601,7 @@ std::vector<Polygon2d> getCollidedPolygons(
     }
     const auto & ego_pose = interpolated_data->pose;
     const auto & ego_polygon = interpolated_data->poly;
-    const auto & ego_velocity = interpolated_data->velocity;
+    const auto ego_velocity = std::min(interpolated_data->velocity, max_velocity_limit);
 
     // check overlap
     if (boost::geometry::overlaps(ego_polygon, obj_polygon)) {