feat(behavior_path_planner): add dynamic obstacle avoidance module

[takayuki5168]

Description

This feature is under development, and disabled by default.
NOTE:

• This module is supposed to be used with a new behavior_path_planner architecture
• The following parameter should be false since the trajectory may be outside the drivable area in some cases.
  https://github.com/autowarefoundation/autoware_launch/blob/5910b08f7742d78ac5f1ade182d470032e40e398/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml#L7
• This module does not require RTC's approval to execute.

Added a dynamic avoidance module for avoiding dynamic obstacles which are running on the road.
In the current implementation, by extracting the dynamic obstacles to avoid from the drivable area, the motion planner plans the trajectory to avoid the obstacles.

Screencast.from.2023.04.27.17.49.10.webm

TODO

• The trajectory shape ahead of the ego is a little bit jerky.
  • Needs to improve the motion planner which generates the trajectory
  • Needs to improve the lateral controller not to be so sensitive to the trajectory shape.
• The dynamic avoidance module has to be assured to launch with the avoidance or lane_change modules simultaneously.
• Complicated cases cannot be dealt with by the current implementation
  • e.g. The case where there are obstacles on the left and right side very close to the ego's trajectory.

small TODOs

• Decision-making to avoid or not can be improved
  • not to avoid obstacles that have not been avoided.
  • not to conflict with the decision from the cruise and stop planner.

Related links

launcher: autowarefoundation/autoware_launch#299

Tests performed

In the planning simulator, in a simple case, it's working correctly.
Though the steering controller is a little bit unstable.

Notes for reviewers

Interface changes

Nothing

Effects on system behavior

Dynamic avoidance feature can be enabled.

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-3415/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-3415/planning/behavior_path_planner/behavior_path_planner_dynamic_avoidance_design/

[satoshi-ota]

Could you add config in behavior_path_planner/config/~ ?

autowarefoundation/autoware_launch#299

[codecov]

Codecov Report

Patch coverage: 2.90% and project coverage change: -0.02 ⚠️

Comparison is base (3534f6d) 14.07% compared to head (fbb2e36) 14.05%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3415      +/-   ##
==========================================
- Coverage   14.07%   14.05%   -0.02%     
==========================================
  Files        1398     1400       +2     
  Lines       97962    98777     +815     
  Branches    29084    29636     +552     
==========================================
+ Hits        13789    13886      +97     
- Misses      69500    70132     +632     
- Partials    14673    14759      +86     

Flag	Coverage Δ		*Carryforward flag
differential	15.41% <2.90%> (?)
total	14.07% <ø> (ø)		Carriedforward from 90732b7

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

Impacted Files	Coverage Δ
...ner/include/behavior_path_planner/data_manager.hpp	46.66% <ø> (ø)
...ule/dynamic_avoidance/dynamic_avoidance_module.hpp	0.00% <0.00%> (ø)
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00% <0.00%> (ø)
...test/test_behavior_path_planner_node_interface.cpp	27.90% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	20.07% <26.31%> (+0.28%)	⬆️

... and 13 files with indirect coverage changes

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[TakaHoribe]

LGTM!