feat(lane_change): keep distance against avoidable stationary objects

[kosuke55]

Description

• ego is in terminal current lanes
• stationary object is in current lanes

-> keep distance against the object

• ego is in terminal current lanes

-> keep lane change buffer to the terminal

• ego is NOT in terminal current lanes
• stationaly object is target lane

-> keep distance against the object

• ego is NOT in terminal current lanes

-> keep lane change buffer to the terminal

Related links

Tests performed

psim

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Attention: 46 lines in your changes are missing coverage. Please review.

Comparison is base (b0310e7) 14.78% compared to head (230e705) 14.78%.
Report is 18 commits behind head on main.

❗ Current head 230e705 differs from pull request most recent head e666058. Consider uploading reports for the commit e666058 to get more accurate results

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #5236    +/-   ##
========================================
  Coverage   14.78%   14.78%            
========================================
  Files        1648     1648            
  Lines      113963   114591   +628     
  Branches    35110    35562   +452     
========================================
+ Hits        16846    16941    +95     
- Misses      78177    78610   +433     
- Partials    18940    19040   +100     

Flag	Coverage Δ		*Carryforward flag
differential	12.40% <0.00%> (?)
total	14.78% <ø> (+<0.01%)	⬆️	Carriedforward from b6c9bb2

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

Files	Coverage Δ
...th_planner/src/scene_module/lane_change/normal.cpp	4.09% <0.00%> (-0.38%)	⬇️

... and 6 files with indirect coverage changes

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[TakaHoribe]

The current implementation fails when executing lane change and avoidance simultaneously like in this case. The ego is avoiding the obstacle, but the lane change module stops the vehicle since the object in the current lane is recognized as a blocker.

Now the implementation is improved to check only the objects around the ego path.

Test case 1

Test case 2

Test case 3

Test case 4

[TakaHoribe]

Current implementation fails in this situation