feat(autonomous_emergency_braking): speed up aeb

[danielsanchezaran]

Description

This PR refactors the AEB code to speed up processing time. Clustering and path-based pointcloud cropping are done once per iteration instead of twice. Some other changes are done to increase speed.

Comparison using driving log replayer:
before
aeb_times.txt

times higher than 70 ms:

processing_time: 89.683 processing_time: 74.601 processing_time: 82.908 processing_time: 87.936 processing_time: 93.321 processing_time: 89.623 processing_time: 119.028 processing_time: 99.281 processing_time: 85.516 processing_time: 72.685 processing_time: 85.565 processing_time: 93.702 processing_time: 87.082 processing_time: 72.67 processing_time: 107.033 processing_time: 95.981 processing_time: 73.572 processing_time: 97.633 processing_time: 82.361 processing_time: 95.262 processing_time: 78.441 processing_time: 93.552 processing_time: 72.987 processing_time: 72.825 processing_time: 75.752 processing_time: 76.714 processing_time: 73.017 processing_time: 74.023 processing_time: 81.248 processing_time: 85.993 processing_time: 117.669 processing_time: 109.717

After

aeb_times_after_pr.txt

Only times higher than 30 ms:

processing_time: 32.252 processing_time: 30.629 processing_time: 34.249 processing_time: 32.926 processing_time: 30.046 processing_time: 35.681 processing_time: 33.811 processing_time: 51.401 processing_time: 51.346 processing_time: 39.437 processing_time: 31.665 processing_time: 30.943 processing_time: 35.911 processing_time: 30.852 processing_time: 33.021 processing_time: 30.979 processing_time: 42.528 processing_time: 39.72 processing_time: 32.504 processing_time: 32.254 processing_time: 34.45 processing_time: 33.739 processing_time: 35.689 processing_time: 34.073 processing_time: 42.685 processing_time: 42.625 processing_time: 40.024 processing_time: 36.324 processing_time: 37.852 processing_time: 34.826 processing_time: 30.493 processing_time: 34.955 processing_time: 45.721 processing_time: 34.387

Related links

ticket: https://tier4.atlassian.net/browse/RT1-5790
Parent Issue:

• Link

How was this PR tested?

Psim, DLR

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

• You've checked our contribution guidelines.
• Your PR follows our pull request guidelines.
• All required CI checks pass before marking the PR ready for review.

[codecov]

Codecov Report

Attention: Patch coverage is 6.97674% with 80 lines in your changes missing coverage. Please review.

Project coverage is 24.13%. Comparing base (1ae6082) to head (e5438c4).
Report is 20 commits behind head on main.

Files with missing lines	Patch %	Lines
...autoware_autonomous_emergency_braking/src/node.cpp	7.50%	72 Missing and 2 partials ⚠️
...utoware_autonomous_emergency_braking/src/utils.cpp	0.00%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8778      +/-   ##
==========================================
- Coverage   24.13%   24.13%   -0.01%     
==========================================
  Files        1407     1409       +2     
  Lines      102317   102360      +43     
  Branches    38830    38840      +10     
==========================================
+ Hits        24699    24703       +4     
- Misses      75045    75083      +38     
- Partials     2573     2574       +1     

Flag	Coverage Δ		*Carryforward flag
differential	6.59% <6.97%> (?)
total	24.15% <ø> (+0.01%)	⬆️	Carriedforward from 1ae6082

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[kyoichi-sugahara]

LGTM! Thanks
You can follow my suggestion and you can ignore my suggestion as you like!