feat(lane_change): using frenet planner to generate lane change path when ego near terminal

[zulfaqar-azmi-t4]

Description

This PR adds frenet planner to generate candidate path when ego is near terminal.

Related launcher's PR. autowarefoundation/autoware_launch#1290

Related links

Parent Issue:

• Link

How was this PR tested?

1. PSIM
2. Evaluator TIER IV Internal link

Notes for reviewers

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	trajectory.th_prepare_curvature	double	0.03	If the maximum curvature of the prepare segment exceeds the threshold, the prepare segment is invalid.
Added	frenet.enable	bool	0.03	Enable frenet planner if ego is near terminal start.
Added	frenet.th_yaw_diff	bool	10.0	If the yaw diff between of the prepare segment's end and lane changing segment's start exceed the threshold , the lane changing segment is invalid.
Added	frenet.th_curvature_smoothing	bool	0.1	Filters and appends target path points with curvature below the threshold to candidate path.

Effects on system behavior

None.

[github-actions]

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9767/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-9767/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/

[mkquda]

Just double checking, when doing left lane change then we want to offset to the right, and vice versa. Is that correct? Does this logic do that?

[codecov]

Codecov Report

Attention: Patch coverage is 11.82796% with 328 lines in your changes missing coverage. Please review.

Project coverage is 29.35%. Comparing base (4dc7201) to head (441a17f).
Report is 5 commits behind head on main.

Files with missing lines	Patch %	Lines
...ehavior_path_lane_change_module/src/utils/path.cpp	6.57%	208 Missing and 5 partials ⚠️
...vior_path_lane_change_module/src/utils/markers.cpp	0.00%	48 Missing and 2 partials ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	23.68%	29 Missing ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp	21.42%	21 Missing and 1 partial ⚠️
.../behavior_path_lane_change_module/structs/path.hpp	11.11%	8 Missing ⚠️
...enet_planner/src/frenet_planner/frenet_planner.cpp	0.00%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9767      +/-   ##
==========================================
- Coverage   29.41%   29.35%   -0.06%     
==========================================
  Files        1446     1448       +2     
  Lines      108365   108731     +366     
  Branches    42232    42462     +230     
==========================================
+ Hits        31872    31921      +49     
- Misses      73408    73720     +312     
- Partials     3085     3090       +5     

Flag	Coverage Δ		*Carryforward flag
differential	23.63% <11.82%> (?)
total	29.41% <ø> (+<0.01%)	⬆️	Carriedforward from 4dc7201

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