refactor(lane_change): refactor lane change parameters

[mkquda]

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

Related links

• launcher PR

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]

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[github-actions]

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]

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 ⚠️
...e_behavior_path_lane_change_module/src/manager.cpp	84.28%	20 Missing and 2 partials ⚠️
...avior_path_lane_change_module/utils/parameters.hpp	73.33%	0 Missing and 4 partials ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp	50.00%	2 Missing ⚠️

Additional details and impacted files

@@            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	Coverage Δ		*Carryforward flag
differential	19.91% <73.21%> (?)
total	28.86% <ø> (-0.14%)	⬇️	Carriedforward from 13cbe8e

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

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[zulfaqar-azmi-t4]

LGTM