fix(map_based_prediction): filter by distance for opposite lanes as well

[kminoda]

Description

We observed a case in which the vehicle detected outside of the lanes were associated with a lanelet that is completely irrelevant, resulting in a weird predicted path generated in front of the ego-vehicle. After some investigation, we figured out that the package finds current_lanelet even for such vehicles in Step 2. Search opposite directional lanelets part.

After discussing with @takayuki5168, we propose to add the distance filtering to the Step 2 as well as Step 1.

INTERNAL LINK: https://tier4.atlassian.net/browse/RT0-29313

Tests performed

Tested in pilot-auto.x2 and confirmed that the false positive prediction path is suppressed.

Effects on system behavior

Note that this modification may produce some false negatives for some vehicles that are passing the opposite lanes (e.g. during avoidance). But we assume that this increase in false negatives is limited since the distance threshold (3.0 m) is still fairly large. If we still encounter some false positives, we may also consider changing the distance threshold only for opposite lanes (e.g. making it larger).

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[codecov]

Codecov Report

Attention: 2 lines in your changes are missing coverage. Please review.

Comparison is base (14ef695) 14.78% compared to head (ea345ae) 14.79%.
Report is 3 commits behind head on main.

Additional details and impacted files

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##             main    #5195   +/-   ##
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  Coverage   14.78%   14.79%           
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  Files        1636     1636           
  Lines      113602   113541   -61     
  Branches    34913    34877   -36     
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+ Hits        16793    16795    +2     
+ Misses      77968    77912   -56     
+ Partials    18841    18834    -7     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.79% <ø> (+<0.01%)	⬆️	Carriedforward from e337576

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Files	Coverage Δ
...map_based_prediction/map_based_prediction_node.hpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	12.33% <ø> (+<0.01%)	⬆️
...ehavior_velocity_intersection_module/src/debug.cpp	0.00% <ø> (ø)
...ity_intersection_module/src/scene_intersection.cpp	0.00% <ø> (ø)
...behavior_velocity_intersection_module/src/util.cpp	0.00% <ø> (ø)
...ior_velocity_intersection_module/src/util_type.hpp	0.00% <ø> (ø)
...em_monitor/src/process_monitor/process_monitor.cpp	0.00% <ø> (ø)
...based_prediction/src/map_based_prediction_node.cpp	0.00% <0.00%> (ø)

... and 8 files with indirect coverage changes

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