feat(behavior_path_planner): abort lane change function

[zulfaqar-azmi-t4]

NOTE 1: Following in the config PR that reflects the new parameters tier4/autoware_launch#583

NOTE 2: The documentation of the new behavior is described in this PR #2599.

Description

Current lane change abort function only cancels unsafe lane change path when ego is still relatively close to the current reference lane (preparation phase). While ego is lane changing, there is no action to respond to the unsafe lane change path. Therefore the aim of this PR is to introduce a function that allows ego vehicle to return to original lane should abort is needed.

Note that this function "DOESN'T GUARANTEE SAFE ABORT"

Flowchart

The abort process may result in two different outcome. If ego as yet no depart from the reference lane, the result is CANCEL process. (Note that this is the original abort function that has already available in the main branch)

The following illustrates the CANCEL process

cancel-.2022-11-29-14-21-01.mp4.mp4

If ego depart from the current lane, then the result will be Abort process.

abort-.2022-11-29-14-23-40.mp4.mp4

Related links

Parameters: tier4/autoware_launch#583
TIER4 Internal Link

Tests performed

cap-.2022-11-24-15-51-31.mp4.mp4

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[codecov]

Codecov Report

Base: 10.52% // Head: 10.59% // Increases project coverage by +0.07% 🎉

Coverage data is based on head (0ee8fde) compared to base (175e23d).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2359      +/-   ##
==========================================
+ Coverage   10.52%   10.59%   +0.07%     
==========================================
  Files        1271     1271              
  Lines       88201    89377    +1176     
  Branches    21249    22371    +1122     
==========================================
+ Hits         9284     9472     +188     
- Misses      69005    69631     +626     
- Partials     9912    10274     +362     

Flag	Coverage Δ		*Carryforward flag
differential	5.14% <0.00%> (?)
total	10.52% <0.00%> (ø)		Carriedforward from 4d14132

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

Impacted Files	Coverage Δ
...er/scene_module/lane_change/lane_change_module.hpp	0.00% <0.00%> (ø)
...nner/scene_module/lane_change/lane_change_path.hpp	0.00% <ø> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	29.41% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.28% <0.00%> (+0.10%)	⬆️
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...path_planner/src/scene_module/lane_change/util.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	7.44% <0.00%> (+3.81%)	⬆️
...r_path_planner/src/scene_module/pull_over/util.cpp	0.00% <0.00%> (ø)
...th_planner/src/scene_module/utils/path_shifter.cpp	0.00% <0.00%> (ø)
... and 17 more

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[TakaHoribe]

@zulfaqar-azmi-t4 Thank you for this PR. Here is some comments:

• I don't think it's possible to pre-define the deceleration/jerk in the abort distance calculation. Often, when humans abort a lane change, they don't decelerate. It might even be dangerous to decelerate when aborting. If you have a clear policy in place, we can provide parameters, but it may not be necessary and 0 for acc/jerk is used instead in this case.

• The calculation of the abort path should not be based on distance, but should be calculated from lateral acceleration and lateral jerk. In this case, we can simply calculate the required distance as d = v * dt for now to reduce parameters.

• It's not essential to use an angle and distance to distinguish between abort and cancel functions. Since the difference between these functions is the necessity of the path generation, we can just check whether the "shift start point for lane change" is behind the "shift start point for abort". I think this is simpler and no threshold parameters are required. What do you think?