perf(lane_change): rework object filter

[zulfaqar-azmi-t4]

Description

Lane change object filters checks for object's arc length from ego, and this time consuming process might be resource extensive if the number of object is huge.

To avoid this issue, the object filtering in lane change is improve, by first performing rough checks, by checking object current location and speed, and then remove if it is not fulfill the requirement.

The following will be the new logic for the object filtering

Related links

TIER IV Internal Link

Tests performed

TIER IV Internal link

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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[github-actions[bot]]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6847/ Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-6847/planning/behavior_path_lane_change_module/

[shmpwk]

The code looks good to me.

[zulfaqar-azmi-t4]

@Owen-Liuyuxuan

Thank you for your detailed documentation. I would love to have some more local tests.

Thank you for your comments, but may I know what do you mean by some more local tests?

[Owen-Liuyuxuan]

@Owen-Liuyuxuan

Thank you for your detailed documentation. I would love to have some more local tests.

Thank you for your comments, but may I know what do you mean by some more local tests?

Sorry for the late reply, I was considering how to quantify the improvements with some current ROSBag. But I was blocked by some other tasks lately.