fix(behavior_path_planner): fix the condition of turn signal lighting

[k-obitsu]

Signed-off-by: k-obitsu koichi.obitsu@tier4.jp

Description

Fix regarding below issue.
#605

Fixed the turn signal lighting conditions as follows.

1. lane_attribute == prev_lane_attribute && distance_from_vehicle_front < 0
   ⇛ light off
2. lane_attribute != prev_lane_attribute && distance_from_vehicle_front < turn_signal_distance
   ⇛ light on
3. lane_attribute != prev_lane_attribut && turn_direction == left/right &&
   distance_from_vehicle_front < path point distance && distance_from_vehicle_front > 0
   ⇛ light on
   

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Merging #728 (48d03a7) into main (f68121e) will decrease coverage by 0.09%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main     #728      +/-   ##
==========================================
- Coverage   10.54%   10.45%   -0.10%     
==========================================
  Files         741      741              
  Lines       51998    52479     +481     
  Branches     6652     6652              
==========================================
  Hits         5485     5485              
- Misses      42053    42534     +481     
  Partials     4460     4460              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.54% <0.00%> (ø)		Carriedforward from 86af502

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

Impacted Files	Coverage Δ
.../behavior_path_planner/src/turn_signal_decider.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	0.00% <0.00%> (ø)
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.00% <0.00%> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...ne_module/lane_following/lane_following_module.cpp	0.00% <0.00%> (ø)

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update f68121e...48d03a7. Read the comment docs.

[TakaHoribe]

@k-obitsu @rej55 The picture on this PR looks nice. How about adding it into the readme?

[rej55]

@k-obitsu
In my understanding, the turn indicator should turn on if the vehicle front is in the green area.
(Before changing, the turn indicator turns on if the vehicle front is in front of the green area)
(The red area is a lane with "turn_direction" attribute)

To achieve this, I think calculating the backward distance from the first point in the red lane is an easier way.
The pseudo code is like following:

double backward_accumlated_distance = 0.0;
double distance_to_vehicle_front_from_backward_point = distance_from_vehicle_front;
for (const auto & backward_point : …)
{
  backward_accumlated_distance += calcDistance3d(...);
  distance_to_vehicle_front_from_backward_point -= backward_accumlated_distance;

  if (backward_accumlated_distance > turn_signal_distance)
  {
    if (distance_to_vehicle_front_from_backward_point > 0.0)
    {
      // turn_signal : ON
    }
    break;
  }
}

How do you think?

[k-obitsu]

@rej55
Thank you for your advice, but I've thought the turn indicator needs to light on in the red area.
Therefore, I thought about it by dividing three cases such as this PR.
(Even before the change, it was turned on in the red area.)

[k-obitsu]

I fixed this PR, then please review it.

[rej55]

Just a small comment.
If it is okay to accept, please commit suggestion.

[k-obitsu]

@rej55 I committed suggestion.

[rej55]

LGTM