feat(lane_departure_checker): include neighbor lanelets as optional

[brkay54]

Signed-off-by: Berkay Karaman brkay54@gmail.com

Description

In current implementation, lane_departure_checker is only checking the vehicle's current lane. However, in some conditions, vehicle can be driven in other lanes. For example, because bus is large vehicle, it can not fit in lanes especially in sharp turns and lane_departure_checker publishes emergency then make vehicle stop. But, user should define the borders of drivable area for lane_departure_checker. To do this, I added some options about which lanes should be included to drivable area borders.

Related links

Tests performed

Notes for reviewers

cc. @kyoichi-sugahara
It is little urgent change, we need to merge this before BusODD.

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[codecov]

Codecov Report

Base: 11.79% // Head: 11.78% // Decreases project coverage by -0.02% ⚠️

Coverage data is based on head (015f4ee) compared to base (11c9892).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2709      +/-   ##
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- Coverage   11.79%   11.78%   -0.02%     
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  Files        1322     1322              
  Lines       92802    92901      +99     
  Branches    25004    25075      +71     
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+ Hits        10944    10945       +1     
- Misses      70384    70483      +99     
+ Partials    11474    11473       -1     

Flag	Coverage Δ		*Carryforward flag
differential	5.90% <0.00%> (?)
total	11.79% <ø> (+<0.01%)	⬆️	Carriedforward from 51ffc39

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

Impacted Files	Coverage Δ
...rture_checker_node/lane_departure_checker_node.cpp	0.28% <0.00%> (-0.12%)	⬇️
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	88.09% <0.00%> (+2.38%)	⬆️

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[mehmetdogru]

@brkay54 please create another PR in autoware_launch repo for the changes you made in lane_departure_checker.param.yaml file

[kyoichi-sugahara]

@brkay54
sorry for late check.
Applied the parameters below and checked lane_departure checker doesn't output emergency.
include_right_lanes = true
include_opposite_lanes = true

So could you prepare config file in autoware_launch repo?
Then I will approve this PR.

[brkay54]

@kyoichi-sugahara I am appreciated for your review. I created PR for autoware_launch: autowarefoundation/autoware_launch#217

[kyoichi-sugahara]

@kosuke55
With this implementation, shoulder lane is not included in the neighbor lanelets. Shoulder lane will be added to routing_graph in near future?

[kyoichi-sugahara]

LGTM

[kosuke55]

@kyoichi-sugahara

With this implementation, shoulder lane is not included in the neighbor lanelets.

All shoulder lanes have already been added to the candidate_lanelets, so we may don't need to add them as neighbors:thinking:
#2614

Shoulder lane will be added to routing_graph in near future?

We haven't decided yet, but we might do so.