feat(behavior_velocity): add jerk limit for occlusion spot deceleration

[taikitanaka3]

Related Issue(required)

#258

Description(required)

add safe motion for velocity/stop margin for time delay, constant jerk and constant acceleration .

This PR improves

• bettter safe margin/ safe velocity consider jerk limit of ebs
• keep safe velocity between safe margin and collision point

wont change

• maximum deceleration using jerk limit and current acceleration(will be another PR)
• detection area polygon which includes brief concept of "passable with out collision" after passing safe margin(will be another PR)

Review Procedure(required)

Launch Psim and see behavior is natural

Debug Markers
s: longitudinal to occlusion spot collision point at ego
d: lateral distance to occlusion spot
v: safe velocity for occlusion spot
m: safe margin for ego to stop using emergency brake if pedestrian coming out

colcon test --packages-select "$PKG" --event-handlers console_direct+

see that case below is tested and successful

Unit test parameters expected result

  /**
   * @brief check if calculation is correct in below parameter
   * delay =  0.5 [s]
   * a_max = -4.5 [m/s^2]
   * j_max = -3.0 [m/s^3]
   * case1 delay
   * case2 delay + jerk
   * case3 delay + jerk + acc
   */

2: [ RUN      ] safeMotion.delay_jerk_acceleration
2: [       OK ] safeMotion.delay_jerk_acceleration (0 ms)
2: [----------] 1 test from safeMotion (0 ms total)

Related PR(optional)

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[codecov]

Codecov Report

Merging #344 (028a6eb) into tier4/proposal (2268517) will decrease coverage by 2.41%.
The diff coverage is 25.24%.

@@                Coverage Diff                @@
##           tier4/proposal    #344      +/-   ##
=================================================
- Coverage            9.29%   6.87%   -2.42%     
=================================================
  Files                 700      75     -625     
  Lines               48932    5001   -43931     
  Branches             5817     685    -5132     
=================================================
- Hits                 4549     344    -4205     
+ Misses              40572    4430   -36142     
+ Partials             3811     227    -3584     

Impacted Files	Coverage Δ
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	8.69% <ø> (ø)
..._planner/src/scene_module/occlusion_spot/debug.cpp	0.00% <0.00%> (ø)
...lanner/src/scene_module/occlusion_spot/manager.cpp	0.00% <0.00%> (ø)
...sion_spot/scene_occlusion_spot_in_private_road.cpp	0.00% <0.00%> (ø)
...usion_spot/scene_occlusion_spot_in_public_road.cpp	0.00% <0.00%> (ø)
...ity_planner/test/src/test_occlusion_spot_utils.cpp	42.85% <0.00%> (ø)
...nning/behavior_velocity_planner/test/src/utils.hpp	79.36% <ø> (ø)
..._module/occlusion_spot/risk_predictive_braking.cpp	40.00% <7.69%> (+1.90%)	⬆️
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	9.23% <16.66%> (+0.23%)	⬆️
..._planner/test/src/test_risk_predictive_braking.cpp	55.88% <40.00%> (-0.79%)	⬇️
... and 627 more

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[taikitanaka3]

if margin before stopping will become before path start point then it will be located right after start point
After that use current velocity as target velocity

[taikitanaka3]

21098c6 includes this change

[taikitanaka3]

minor change to show debug collision point better(from start to end)
5fc86e3

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-344/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-344/planning/behavior_velocity_planner/occlusion-spot-design/

[tkimura4]

Could you fix as following?

ttc -> TTC
add following description: TTC means Time To Collision of the approaching pedestrian with the own vehicle.
stop before ttc -> stop withn TTC time
S_safe descipription: S_safe is the breaking distance when the car is running at V_safe

[taikitanaka3]

@tkimura4
fixed at 028a6eb

[tkimura4]

LGTM

[tkimura4]

Could you fix DCO error?

[taikitanaka3]

@yukkysaito
Could you take a look at if this looks good?

• wrote release note