fix(intersection): use constant velocity for smoother reference

[soblin]

fixed the reference velocity to a constant velocity reference as the input to smoother

Signed-off-by: Mamoru Sobue mamoru.sobue@tier4.jp

Description

Changed how to calculate ttc(time-to-colliison) for ego car. The ttc for ego is the predicted passing time for each point on the path, calculated from predicted velocity.

Before this PR ego's predicted velocity was obtained by smoothing this velocity reference.

     x-------------- vmax
    /
   /
  /
v0

So velocity profile was processed doubly toward vmax. As a result velocity profile was underestimated.

In this PR, smoother is applied to constant vmax reference only once.

Related links

Prior PR: #1405

Tests performed

The red marker (this polygon is the predicted positions of ego while the object is intersecting with ego's path) does not oscillate a lot.

Before PR:

before_fix_smoother.mp4

In this PR:

after_fix_smoother-2022-08-29_19.46.15.mp4

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[codecov]

Codecov Report

Merging #1721 (dcf99e5) into main (9944a2a) will decrease coverage by 0.01%.
The diff coverage is n/a.

❗ Current head dcf99e5 differs from pull request most recent head 036dac7. Consider uploading reports for the commit 036dac7 to get more accurate results

@@            Coverage Diff             @@
##             main    #1721      +/-   ##
==========================================
- Coverage   10.31%   10.29%   -0.02%     
==========================================
  Files        1207     1207              
  Lines       87119    87106      -13     
  Branches    20076    20057      -19     
==========================================
- Hits         8982     8971      -11     
- Misses      68835    68965     +130     
+ Partials     9302     9170     -132     

Flag	Coverage Δ
total	10.28% <0.00%> (-0.02%)	⬇️

Impacted Files	Coverage Δ
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	64.15% <0.00%> (-18.87%)	⬇️
...planning_evaluator/src/planning_evaluator_node.cpp	37.11% <0.00%> (-1.04%)	⬇️
common/osqp_interface/src/osqp_interface.cpp	34.35% <0.00%> (ø)
planning/route_handler/src/route_handler.cpp	0.00% <0.00%> (ø)
planning/rtc_interface/src/rtc_interface.cpp	0.00% <0.00%> (ø)
control/trajectory_follower/src/mpc_utils.cpp	58.25% <0.00%> (ø)
planning/behavior_velocity_planner/src/node.cpp	0.42% <0.00%> (ø)
common/motion_utils/src/marker/marker_helper.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	3.36% <0.00%> (ø)
control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp	0.25% <0.00%> (ø)
... and 83 more

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[kyoichi-sugahara]

checked that the red marker does not oscillate (and passed all related scenario tests)

simplescreenrecorder-2022-09-06_11.03.25.mp4

[kyoichi-sugahara]

LGTM