feat(avoidance): reduce road shoulder margin if lateral distance is not enough to avoid

[satoshi-ota]

Description

🤖 Generated by Copilot at 39afdae

This pull request modifies the AvoidanceModuleManager class and related files to use two parameters for the road shoulder margins instead of one. This allows the avoidance module to adjust the lateral distance to the road shoulder when avoiding obstacles, improving the robustness and safety of the behavior path planning.

Please approve ⬇️ before this PR.
autowarefoundation/autoware_launch#513

Add following new params:

          soft_road_shoulder_margin: 0.8                # [m]
          hard_road_shoulder_margin: 0.3                # [m]

Then, there are four lateral margin params in avoidance config:

safety_buffer_lateral
avoid_buffer_lateral
soft_road_shoulder_margin
hard_road_shoulder_margin

• the distance between the ego and object
  • max: safety_buffer_lateral + avoid_buffer_lateral
  • min: safety_buffer_lateral
• the distance between the ego and road shoulder
  • max: soft_road_shoulder_margin
  • min: hard_road_shoulder_margin

1. At first, it expands lateral margin as much as possible with soft_road_shoulder_margin
2. lateral margin can be reduced and minimum value is safety_buffer_lateral
3. if there is no enough distance between ego and object, the road shoulder margin can be reduced to hard_road_shoulder_margin

simplescreenrecorder-2023-08-13_09.12.31.mp4

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch coverage: 1.40% and no project coverage change.

Comparison is base (48d5336) 14.84% compared to head (c3ddc0d) 14.84%.
Report is 8 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4609   +/-   ##
=======================================
  Coverage   14.84%   14.84%           
=======================================
  Files        1529     1529           
  Lines      105843   105829   -14     
  Branches    32254    32245    -9     
=======================================
- Hits        15712    15710    -2     
- Misses      72942    72945    +3     
+ Partials    17189    17174   -15     

Flag	Coverage Δ		*Carryforward flag
differential	13.21% <1.40%> (?)
total	14.85% <ø> (+<0.01%)	⬆️	Carriedforward from 48d5336

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

Files Changed	Coverage Δ
.../lane_departure_checker/lane_departure_checker.hpp	0.00% <ø> (ø)
..._departure_checker_node/lane_departure_checker.cpp	3.00% <ø> (ø)
...rture_checker_node/lane_departure_checker_node.cpp	0.29% <ø> (ø)
...map_based_prediction/map_based_prediction_node.hpp	0.00% <ø> (ø)
...based_prediction/src/map_based_prediction_node.cpp	0.00% <ø> (ø)
...path_planner/scene_module/goal_planner/manager.hpp	100.00% <ø> (ø)
...th_planner/scene_module/scene_module_interface.hpp	12.23% <ø> (+0.34%)	⬆️
...er/scene_module/scene_module_manager_interface.hpp	28.70% <0.00%> (+3.70%)	⬆️
...ath_planner/scene_module/start_planner/manager.hpp	100.00% <ø> (ø)
...cene_module/start_planner/start_planner_module.hpp	0.00% <0.00%> (ø)
... and 13 more

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.