feat(lane_departure_checker,start_planner): add check for path within lanes for bvspm

[danielsanchezaran]

Description

In this PR, a new departure check set of functions have been added to lane_departure_checker that:

1. Creates an ego vehicle footprint convex hull.
2. Checks which lanelets are touched by the footprint hull using the MapLayer
3. Then Checks if each individual footprint is fully within the lanelets or not
   I have implemented this check for shift pull out and geometric pull out to improve and be able to consider all the necessary lanelets to do a proper out of lane check. This solves the issue in which the ego vehicle cannot start with a shift pull out on overlapped lanes:

Before, the shift pull out planner cannot generate a route when the ego overlaps more than one lane (other planners are disabled):

After the changes on this PR:

Related links

Tests performed

Tests performed: Psim and Scenario tests: TIER IV INTERNAL LINK , degradation seems to be caused by an unrelated problem with this PR.

• PASS TIERIV INTERNAL SCENARIOS

Notes for reviewers

Interface changes

Effects on system behavior

Checked lanes for lane departure are increased to involve all relevant lanelets for the start planner.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 73 lines in your changes are missing coverage. Please review.

Project coverage is 14.63%. Comparing base (e64415b) to head (6208d4f).
Report is 5 commits behind head on main.

Files	Patch %	Lines
..._departure_checker_node/lane_departure_checker.cpp	0.00%	49 Missing ⚠️
...s/parking_departure/geometric_parallel_parking.cpp	0.00%	10 Missing ⚠️
...r_path_start_planner_module/src/shift_pull_out.cpp	0.00%	7 Missing ⚠️
...th_start_planner_module/src/geometric_pull_out.cpp	0.00%	5 Missing ⚠️
..._start_planner_module/src/start_planner_module.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6366      +/-   ##
==========================================
- Coverage   14.63%   14.63%   -0.01%     
==========================================
  Files        1900     1900              
  Lines      130645   130689      +44     
  Branches    38381    38733     +352     
==========================================
+ Hits        19123    19124       +1     
- Misses      90064    90107      +43     
  Partials    21458    21458              

Flag	Coverage Δ		*Carryforward flag
differential	16.52% <0.00%> (?)
total	14.64% <ø> (+<0.01%)	⬆️	Carriedforward from e64415b

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

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[kyoichi-sugahara]

@danielsanchezaran
Sorry for not merging this PR during your vacation 🙇
Can you confirme scenario result with latest scenaro just in case?
I guess some fail which is not related to this change is apperaerd.

[kyoichi-sugahara]

LGTM!Thanks!!!!!

[danielsanchezaran]

@danielsanchezaran Sorry for not merging this PR during your vacation 🙇 Can you confirme scenario result with latest scenaro just in case? I guess some fail which is not related to this change is apperaerd.

Thank you for your reply, for reference here are the evaluation results we discussed about TIER IV INTERNAL LINK

[xmfcx]

I've canceled the build-and-test-differential / build-and-test-differential (humble) job and restarted build-and-test-differential / build-and-test-differential (humble, -cuda) (pull_request) because this is the only required job from now.

This PR halves the time required for build-and-test-differential checks:

• ci(build-and-test-differential): remove non-cuda job #6495

If the test passes, it will be merged automatically, you don't need to do anything.

If you make any further changes to this PR, please rebase to main.