refactor(lane_change): refactor lane change parameters

mkquda commented 6 days ago

Description

Refactor lane change parameters to:

group related parameters into structs
shorten long parameter names where possible
improve code structuring

Changes

Move lane change parameters to separate header file parameters.hpp
Add new struct TrajectoryParameters
Add new struct SafetyParameters
Add new struct CollisionCheckParameters
update lane_change.param.yaml
update README

How was this PR tested?

Build complete successfully
Run unit tests
Internal TIER IV evaluator

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Modifications

Trajectory generation parameters

Version	Parameter Name	Type	Default Value
Old	`prepare_duration`	`double`	`4.0`
New	`trajectory.prepare_duration`	`double`	`4.0`
Old	`lane_changing_lateral_jerk`	`double`	`0.5`
New	`trajectory.lateral_jerk`	`double`	`0.5`
Old	`minimum_lane_changing_velocity`	`double`	`2.78`
New	`trajectory.min_velocity`	`double`	`2.78`
Old	`longitudinal_acceleration_sampling_num`	`int`	`5`
New	`trajectory.lon_acc_sampling_num`	`int`	`5`
Old	`lateral_acceleration_sampling_num`	`int`	`3`
New	`trajectory.lat_acc_sampling_num`	`int`	`3`
Old	`max_longitudinal_acc`	`double`	`1.0`
New	`trajectory.max_longitudinal_acc`	`double`	`1.0`
Old	`min_longitudinal_acc`	`double`	`-1.0`
New	`trajectory.min_longitudinal_acc`	`double`	`-1.0`

Collision check parameters

Version	Parameter Name	Type	Default Value
Old	`enable_collision_check_for_prepare_phase.general_lanes`	`bool`	`false`
New	`collision_check.enable_for_prepare_phase.general_lanes`	`bool`	`false`
Old	`enable_collision_check_for_prepare_phase.intersection`	`bool`	`true`
New	`collision_check.enable_for_prepare_phase.intersection`	`bool`	`true`
Old	`enable_collision_check_for_prepare_phase.turns`	`bool`	`true`
New	`collision_check.enable_for_prepare_phase.turns`	`bool`	`true`
Old	`prediction_time_resolution`	`double`	`0.5`
New	`collision_check.prediction_time_resolution`	`double`	`0.5`
Old	`safety_check.collision_check_yaw_diff_threshold`	`double`	`3.1416`
New	`collision_check.yaw_diff_threshold`	`double`	`3.1416`
Old	`check_objects_on_current_lanes`	`bool`	`false`
New	`collision_check.check_current_lanes`	`bool`	`false`
Old	`check_objects_on_other_lanes`	`bool`	`false`
New	`collision_check.check_other_lanes`	`bool`	`false`
Old	`use_all_predicted_path`	`bool`	`false`
New	`collision_check.use_all_predicted_paths`	`bool`	`false`

Effects on system behavior

None.

github-actions[bot] commented 6 days ago

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github-actions[bot] commented 4 days ago

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9403/ Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-9403/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/

codecov[bot] commented 4 days ago

Codecov Report

Attention: Patch coverage is 73.21429% with 60 lines in your changes missing coverage. Please review.

Project coverage is 28.95%. Comparing base (740d42a) to head (29604aa). Report is 20 commits behind head on main.

Files with missing lines	Patch %	Lines
...are_behavior_path_lane_change_module/src/scene.cpp	23.80%	28 Missing and 4 partials :warning:
...e_behavior_path_lane_change_module/src/manager.cpp	84.28%	20 Missing and 2 partials :warning:
...avior_path_lane_change_module/utils/parameters.hpp	73.33%	0 Missing and 4 partials :warning:
...havior_path_lane_change_module/src/utils/utils.cpp	50.00%	2 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #9403 +/- ## ========================================== - Coverage 29.00% 28.95% -0.06% ========================================== Files 1427 1429 +2 Lines 108199 108194 -5 Branches 41386 41342 -44 ========================================== - Hits 31386 31323 -63 - Misses 73776 73834 +58 Partials 3037 3037 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9403/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | *Carryforward flag | |---|---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9403/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `19.91% <73.21%> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9403/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `28.86% <ø> (-0.14%)` | :arrow_down: | Carriedforward from [13cbe8e](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/13cbe8e07821d606e1fdb60697c3858689342488?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | *This pull request uses carry forward flags. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) to find out more.

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