feat(behavior_path_planner): expand hatched road markings

[takayuki5168]

Description

Currently, we cannot utilize the area of hatched road markings for obstacle avoidance.

In the following discussion, the area of hatched road markings is defined, and with this PR we can expand the drivable area with the area of hatched road markings.
https://github.com/orgs/autowarefoundation/discussions/3414

launcher PR: autowarefoundation/autoware_launch#337

code change

• add enable_expanding_hatched_road_markings in DrivableAreaInfo
  • In avoidance module, this variable may be enabled depending on use_hatched_road_markings ros parameters.
  • This ros parameter is set to false by default since in Turkey it is prohibited to drive in the area of hatched road markings.
• implement the feature of expanding the drivable area with hatched road markings polygons in generateDrivableArea function.
  • For old architecture, the argument of enable_expanding_hatched_road_markings is set to false.

result

exampl1

In the above figure, the yellow polygon is the hatched road markings.

example2

In the above figure, the yellow polygon is the hatched road markings.

Tests performed

planning simulator

Effects on system behavior

Can use hatched road markings for obstacle avoidance

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[yukkysaito]

Can you please describe it in the autoware ll2 extension documentation?
https://github.com/autowarefoundation/autoware_common/blob/main/tmp/lanelet2_extension/docs/lanelet2_format_extension.md

[purewater0901]

LGTM

[satoshi-ota]

Could you remove avoidance_by_lc directory?

It is removed by #3632.

[codecov]

Codecov Report

Patch coverage: 25.24% and project coverage change: -0.02 ⚠️

Comparison is base (52127f0) 14.69% compared to head (b23f68e) 14.68%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3604      +/-   ##
==========================================
- Coverage   14.69%   14.68%   -0.02%     
==========================================
  Files        1297     1297              
  Lines       92187    92498     +311     
  Branches    29147    29355     +208     
==========================================
+ Hits        13550    13583      +33     
- Misses      63980    64228     +248     
- Partials    14657    14687      +30     

Flag	Coverage Δ		*Carryforward flag
differential	12.93% <25.24%> (?)
total	14.69% <ø> (+<0.01%)	⬆️	Carriedforward from 52127f0

*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	37.50% <ø> (ø)
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	19.60% <0.00%> (-0.03%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	3.67% <0.00%> (-0.01%)	⬇️
.../scene_module/goal_planner/goal_planner_module.cpp	5.99% <0.00%> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	6.74% <0.00%> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp	3.72% <0.00%> (ø)
.../src/scene_module/side_shift/side_shift_module.cpp	10.83% <0.00%> (-0.06%)	⬇️
...path_planner/src/utils/pull_out/shift_pull_out.cpp	3.60% <0.00%> (ø)
... and 2 more

... and 1 file with indirect coverage changes

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[codecov]

Codecov Report

Patch coverage: 28.15% and no project coverage change.

Comparison is base (ce1255a) 13.82% compared to head (086f31f) 13.82%.

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #3604    +/-   ##
========================================
  Coverage   13.82%   13.82%            
========================================
  Files        1395     1395            
  Lines       98083    98367   +284     
  Branches    29155    29339   +184     
========================================
+ Hits        13556    13598    +42     
- Misses      69872    70073   +201     
- Partials    14655    14696    +41     

Flag	Coverage Δ		*Carryforward flag
differential	12.91% <28.15%> (?)
total	13.82% <ø> (+<0.01%)	⬆️	Carriedforward from ce1255a

*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	37.50% <ø> (ø)
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	19.72% <0.00%> (-0.03%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	3.67% <0.00%> (-0.01%)	⬇️
.../scene_module/goal_planner/goal_planner_module.cpp	5.67% <0.00%> (-0.32%)	⬇️
...th_planner/src/scene_module/lane_change/normal.cpp	6.74% <0.00%> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp	3.72% <0.00%> (ø)
.../src/scene_module/side_shift/side_shift_module.cpp	10.83% <0.00%> (-0.06%)	⬇️
...path_planner/src/utils/pull_out/shift_pull_out.cpp	3.60% <0.00%> (ø)
... and 2 more

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