feat(behavior_velocity): improve occlusion spot detection area polygon

[taikitanaka3]

Related Issue(required)

Description(required)

This PR improves

• detection area polygon shape which can be affect ego behavior(private road only)
• make polygon dynamic for consider ego state
• calculate rough ego ttc from ego velocity and create DA polygon from interpolated distance that pedestrian can reach within ego ttc.

This PR wont fix

• integrate best ego state calculation at time t.Difficulty of estimating velocity at future time t #383
  This can be achieved by having velocity smoother internally or trajectory feedback form velocity smoother or making planning manager or constant velocity of ego ?
• best occlusion spot detection using opencv library.
  Maybe some method can help finding out occlusion spot more efficiently?
• projection of dynamic object and lanelet map info to occupancy grid
• smooth slow down limit. feat(behavior_velocity): apply and add max slowdown calculation utils #388

This PR should be after
#344 -> merged

Review Procedure(required)

1. set this parameter in dummy_perception_publiher.launch.xml
2. set Perception/OccupancyGrid/Map tab true in Rviz
   <param name="enable_ray_tracing" value="false" />
   see unit test covered this case
   

run test

1: [----------] 1 test from detectionArea
1: [ RUN      ] detectionArea.calcLateralDistance
1: s: 0 v: 5 d: 2.5
1: s: 5 v: 5 d: 3.5
1: s: 10 v: 5 d: 5
1: s: 15 v: 5 d: 5
1: [       OK ] detectionArea.calcLateralDistance (1 ms)
1: [----------] 1 test from detectionArea (1 ms total)

2: [----------] 1 test from isOcclusionSpotSquare
2: [ RUN      ] isOcclusionSpotSquare.occlusion_spot_cell
2: TooNoisyCase->No OcclusionSpot 2by2
2:     0|1|2|3|4|                      
2:   0  |?| | | |                      
2:   1  |?| | | |                      
2:   2 ?|?|?|?| |                      
2: [       OK ] isOcclusionSpotSquare.occlusion_spot_cell (1 ms)
2: [----------] 1 test from isOcclusionSpotSquare (1 ms total)

3 launch psim and see occlusion spot module works

velcon-2022-02-14_17.49.41.mp4

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[codecov]

Codecov Report

Merging #354 (03186c3) into tier4/proposal (942f81c) will decrease coverage by 3.27%.
The diff coverage is 22.11%.

@@                Coverage Diff                @@
##           tier4/proposal    #354      +/-   ##
=================================================
- Coverage            9.31%   6.03%   -3.28%     
=================================================
  Files                 702      72     -630     
  Lines               49095    4986   -44109     
  Branches             5845     684    -5161     
=================================================
- Hits                 4572     301    -4271     
+ Misses              40691    4518   -36173     
+ Partials             3832     167    -3665     

Impacted Files	Coverage Δ
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	8.33% <0.00%> (-0.37%)	⬇️
..._planner/src/scene_module/occlusion_spot/debug.cpp	0.00% <0.00%> (ø)
...anner/src/scene_module/occlusion_spot/geometry.cpp	0.00% <0.00%> (-56.61%)	⬇️
...lanner/src/scene_module/occlusion_spot/manager.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	9.09% <0.00%> (-0.14%)	⬇️
...sion_spot/scene_occlusion_spot_in_private_road.cpp	0.00% <0.00%> (ø)
...usion_spot/scene_occlusion_spot_in_public_road.cpp	0.00% <0.00%> (ø)
...vior_velocity_planner/test/src/test_grid_utils.cpp	26.08% <27.27%> (-6.84%)	⬇️
..._planner/test/src/test_risk_predictive_braking.cpp	65.51% <64.51%> (+9.63%)	⬆️
..._module/occlusion_spot/risk_predictive_braking.hpp	70.96% <66.66%> (-1.76%)	⬇️
... and 634 more

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[taikitanaka3]

minor change until create triangle detection area polygon

• sidewalk -> detection_area(refactor)
• square poly -> triangle poly

TODO

• calculate lateral distance until certain time t from each path arc length s
• create discrete interpolated polygon from it.

[taikitanaka3]

@tkimura4 cc: @yukkysaito
Because of dynamic polygon generation, discrete lat lon slice(each partition of polygon) polygon creation could be rattling.
so changed shape to longitudinal slice polygon and only consider more notable(most closest) occlusion at each slice compare to backward slice.
create dynamic poly

(689b6f4)

https://tier4.atlassian.net/wiki/spaces/~484117074/pages/2286977168

[taikitanaka3]

feat(behavior_velocity): better occlusion spot detection improves the error of comparison using index access
(left occlusion spots needs to have right most occlusion spot)
from

to

[taikitanaka3]

@yukkysaito @tkimura4
change was not huge so I add here
feat(behavior_velocity): introduce detection area max length

[tkimura4]

Could you add a description about detection_area_length to the figure in the document?
(Especially, the point that the longitudinal length of detection area depends on the ego-vehicle's velocity.)

[taikitanaka3]

updated at
1b3e3e3

[taikitanaka3]

• done writing to release note