feat(AEB): add height filter for avoiding the ghost brake by false positive point clouds

[Shin-kyoto]

Description

• In the case of inclines, false positive point clouds may persist even after ground segmentation. This can lead to ghost braking by the AEB.
• To prevent ghost braking, point clouds will be filtered based on their height.

Visualization

I checked /control/autonomous_emergency_braking/debug/obstacle_pointcloud

• Before this PR

• After this PR

Related links

TIER IV INTERNAL LINK

Tests performed

• I have confirmed that there are no compile errors during the build.
• I have confirmed that Autoware runs without runtime errors using this code and the autoware_launch with added parameters.
• I have confirmed that AEB correctly filters out point clouds with a small z-coordinate through visualization.

Notes for reviewers

@takayuki5168
Please review this PR keeping the following points in mind;

• Please check if the name of parameter (detection_range_min_height) is easy to understand.

• Please check the default value of parameter (detection_range_min_height).
  - Please review whether 5.0 is an appropriate value in the following code. My rationale for choosing 5.0 is that the maximum height of large buses is within 3.7 meters..

• Please check if the name of parameter (detection_range_max_height_margin) is easy to understand.

• Please check if the default value of parameter (detection_range_max_height_margin) 0 is appropriate.

• Note: I sent PR to awf/autoware_launch to add these params to config; feat(AEB): add detection range params autoware_launch#934

Interface changes

Nothing.

Effects on system behavior

• When obstacle point clouds appear below the detection_range_min_height, AEB may no longer be able to activate braking.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 11 lines in your changes are missing coverage. Please review.

Project coverage is 14.77%. Comparing base (a993a06) to head (4fbfcd0).
Report is 33 commits behind head on main.

Files	Patch %	Lines
control/autonomous_emergency_braking/src/node.cpp	0.00%	11 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6637      +/-   ##
==========================================
- Coverage   14.77%   14.77%   -0.01%     
==========================================
  Files        1923     1923              
  Lines      132533   132543      +10     
  Branches    39398    39398              
==========================================
  Hits        19586    19586              
- Misses      91070    91080      +10     
  Partials    21877    21877              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.77% <ø> (+<0.01%)	⬆️	Carriedforward from 49311e4

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[takayuki5168]

Ideally, 5.0 should depend on the vehicle's height. How about setting the vehicle's height + ros parameter to this value?
The ros parameter's name would be detection_range_height_margin or detection_range_additional_height.

[Shin-kyoto]

@takayuki5168

Thank you for your comment!
I changed this code following your comment in 49311e4

• Please check if the name of parameter (detection_range_max_height_margin) is easy to understand.
• Please check if the default value of parameter (detection_range_max_height_margin) 0 is appropriate.

[Shin-kyoto]

@soblin

Can you review this PR as a code owner?

Please check the following things;

• Please check if the name of parameters (detection_range_min_height, detection_range_max_height_margin) is easy to understand.

• Please check the default value of parameter 0 is appropriate.

  • Since there hasn't been any testing conducted yet, we've set the default value for the minimum height to 0, to ensure that the behavior remains (mostly) unchanged.

• Please check if the risk of this PR is acceptable.

  • Risk: When obstacle point clouds appear below the detection_range_min_height, AEB may no longer be able to activate braking.

• Please check if my checking procedure is enough.

• Note: I sent PR to awf/autoware_launch to add these params to config; feat(AEB): add detection range params autoware_launch#934