feat(behavior_velocity_planner): add hold stop margin distance in vtl module

[satoshi-ota]

Signed-off-by: satoshi-ota satoshi.ota928@gmail.com

Description

Now, this ego always try to stop at the stop position by re-starting (re-approach) even if the ego is stopped near the planned stop position in the module. On the other hand, if the stopping performance of the vehicle is poor (e.g. it cannot stop for one meter) and once it starts traveling, there is a possibility that the vehicle may over the stop position, in which case there may be a issue for the vehicle to continue stopping on the spot, if the distance between the ego and stop position is closer than threshold.

So, in this PR, I fixed following points.

• add new param hold_stop_margin_distance (default: 0.0 [m])
• if the following condisions are satisfied, the ego keep stopping at current position.

condition 1. the ego has stopped
condition 2. the distance between the ego and stop point is shorter than hold_stop_margin_distance

test perform (hold_stop_margin_distance = 2.0 [m])

simplescreenrecorder-2022-07-28_13.35.08.mp4

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[codecov]

Codecov Report

Merging #1454 (bb2558f) into main (7da5bd8) will decrease coverage by 0.04%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1454      +/-   ##
==========================================
- Coverage   10.26%   10.21%   -0.05%     
==========================================
  Files        1118     1118              
  Lines       77570    77934     +364     
  Branches    17856    18101     +245     
==========================================
  Hits         7960     7960              
- Misses      62124    62459     +335     
- Partials     7486     7515      +29     

Flag	Coverage Δ		*Carryforward flag
differential	4.73% <0.00%> (?)
total	10.24% <0.00%> (ø)		Carriedforward from 7da5bd8

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

Impacted Files	Coverage Δ
...clude/scene_module/virtual_traffic_light/scene.hpp	0.00% <ø> (ø)
...src/scene_module/virtual_traffic_light/manager.cpp	0.00% <0.00%> (ø)
...r/src/scene_module/virtual_traffic_light/scene.cpp	0.00% <0.00%> (ø)
...behavior_velocity_planner/src/utilization/util.cpp	18.77% <0.00%> (-0.56%)	⬇️
...vior_velocity_planner/include/utilization/util.hpp	0.00% <0.00%> (ø)
...y_planner/src/scene_module/traffic_light/scene.cpp	0.00% <0.00%> (ø)
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)

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[TakaHoribe]

LGTM

[satoshi-ota]