feat(behavior_velocity_planner): generate stop line if private path conflicts with urban lane

[soblin]

activate merge_from_private if the goal is in private path and the lane is conflicting with urban lane

Signed-off-by: Mamoru Sobue mamoru.sobue@tier4.jp

Description

Previously merge_from_private module worked if (1) the lane is intersection lane (2) if the lane is private lane (3) if the next lane on the path is urban lane. This PR relax condition (3) and generate stop line even if the goal is in private path, if the lane conflicts with urban lane.

Tests performed

In the left image merge_from_private stop line is not generated, and in the right one it is generated

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[codecov]

Codecov Report

Merging #1676 (e9a8cb9) into main (235fa03) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1676      +/-   ##
==========================================
- Coverage   10.72%   10.72%   -0.01%     
==========================================
  Files        1105     1105              
  Lines       78400    78434      +34     
  Branches    18620    18645      +25     
==========================================
  Hits         8409     8409              
- Misses      61078    61100      +22     
- Partials     8913     8925      +12     

Flag	Coverage Δ		*Carryforward flag
differential	4.19% <0.00%> (?)
total	10.71% <0.00%> (ø)		Carriedforward from 235fa03

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

Impacted Files	Coverage Δ
..._planner/src/scene_module/intersection/manager.cpp	0.00% <0.00%> (ø)

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[taikitanaka3]

@soblin
Thank you for PR
Can you verify if "calculating conflicting lanelet for all path point is not heavy" using long path and watch processing time ms to compare time before merging this PR and after merging this PR?

[soblin]

@taikitanaka3
Actually this is calculating conflicting lanelet only if (1) the lanelet is private and turning, (2) and it is the last lanelet on the path, so the calculation is very limited.

The calculation time of scene module assignment for all path lanelets:
[component_container_mt-47] @planPathVelocity: total elapsed time of updateSceneModulesInstances = 2.215ms

The calculation time for conflicting lanelet:
[component_container_mt-47] @launchNewModules of MergeFromPrivate: total elapsed time of conflicting query is 0.007ms

It was very lightweight.

[taikitanaka3]

@soblin
Thank you can you also write readme about this feature(can be another PR)?

[taikitanaka3]

LGTM

[soblin]

Right, I'll append README

[soblin]

Done. Let me merge this PR