fix(behavior_path_planner): make lane change safety check adaptive

[zulfaqar-azmi-t4]

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

Description

With the addition of lane change trajectory generation method and minimum prepare distance, the following issues are observed when dealing with prepare duration and lane changing safety check duration:

1. minimum prepare distance is parameterized and independent of time, therefore, when minimum prepare distance is used, it doesn't satisfy prepare duration.
2. the lane changing time is not fix, due to the dependencies on lateral jerk and lateral acceleration.

To solve these issues, it is necessary to make the prepare duration and lane changing safety check duration to be adaptive. Therefore, this PR aims to solve these problems.

Before PR

After

Related links

Tests performed

1. Enable debug marker to observe the predicted path.
2. Test lane change and lane change cancel function.

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[codecov]

Codecov Report

Base: 12.32% // Head: 12.17% // Decreases project coverage by -0.15% ⚠️

Coverage data is based on head (6e7f8e0) compared to base (a840404).
Patch coverage: 3.61% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2704      +/-   ##
==========================================
- Coverage   12.32%   12.17%   -0.15%     
==========================================
  Files        1209     1209              
  Lines       85529    87282    +1753     
  Branches    24217    25336    +1119     
==========================================
+ Hits        10538    10626      +88     
- Misses      63955    65463    +1508     
- Partials    11036    11193     +157     

Flag	Coverage Δ		*Carryforward flag
differential	4.69% <2.53%> (?)
total	12.32% <3.89%> (ø)		Carriedforward from a840404

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

Impacted Files	Coverage Δ
...c/pure_pursuit/pure_pursuit_lateral_controller.cpp	0.00% <0.00%> (ø)
...havior_path_planner/behavior_path_planner_node.hpp	0.00% <0.00%> (ø)
...ner/include/behavior_path_planner/data_manager.hpp	0.00% <ø> (ø)
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <0.00%> (ø)
...ene_module/lane_change/lane_change_module_data.hpp	0.00% <ø> (ø)
...th_planner/scene_module/scene_module_interface.hpp	0.00% <0.00%> (ø)
...nner/scene_module/side_shift/side_shift_module.hpp	0.00% <0.00%> (ø)
.../scene_module/utils/geometric_parallel_parking.hpp	0.00% <ø> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	27.02% <0.00%> (-2.39%)	⬇️
...or_path_planner/src/behavior_path_planner_node.cpp	0.23% <0.00%> (+0.07%)	⬆️
... and 78 more

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[rej55]

Tested in TIER IV internal test and real vehicle.
LGTM