feat(lane_change): revise current lane objects filtering

[mkquda]

Description

Currently when filtering lane change objects, only front moving objects are considered as "current lane objects", which impacts features that rely on the existence of front stopped objects on the current lane (such as maintaining enough distance from stopped object to perform lane change).

Additionally the logic for computing min. distance to current lanes object is not robust and can give incorrect results in some cases.

This PR revises the object filtering to consider stopped front objects for current lane, and fixes the logic in function get_min_dist_to_current_lanes_obj.
Additionally a parameter is added to enable/disable the feature of keeping a distance from front stopped object to perform lane change.

The image below shows the object filtering result before, you can see that the object inside the current lane is considered as other (orchid color).

The image below shows the object filtering result after, you can see that the object inside the current lane is considered as current_lane (yellow color).

Related links

• launcher PR

How was this PR tested?

• PSIM.
• TIER IV Internal Evaluator

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	enable_stopped_vehicle_buffer	bool	true	If true, will keep enough distance from current lane front stopped object to perform lane change when possible

Effects on system behavior

None.

[github-actions]

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[zulfaqar-azmi-t4]

@mkquda
Please include launcher PR's link as well 🫡

[codecov]

Codecov Report

Attention: Patch coverage is 35.71429% with 9 lines in your changes missing coverage. Please review.

Project coverage is 28.83%. Comparing base (231c341) to head (caab6ce).
Report is 5 commits behind head on main.

Files with missing lines	Patch %	Lines
...havior_path_lane_change_module/src/utils/utils.cpp	0.00%	7 Missing ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	33.33%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9785      +/-   ##
==========================================
+ Coverage   28.79%   28.83%   +0.03%     
==========================================
  Files        1455     1455              
  Lines      109092   108970     -122     
  Branches    42493    42426      -67     
==========================================
+ Hits        31412    31418       +6     
+ Misses      74602    74476     -126     
+ Partials     3078     3076       -2     

Flag	Coverage Δ		*Carryforward flag
differential	20.93% <35.71%> (?)
total	28.83% <ø> (+0.03%)	⬆️	Carriedforward from 0997af5

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