feat(traffic_light_filter): add support for amber light

[maxime-clem]

Description

Add support for amber traffic light signals in the TrafficLightFilter of the autoware_trajectory_traffic_rule_filter.

Related links

Private Links:

• TIER IV internal link

How was this PR tested?

• feat(trajectory_traffic_rule_filter_visualizer): add package autoware_tools#352

Notes for reviewers

None.

Interface changes

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
New	traffic_light_filter.enable_pass_judge	bool	Enable pass judge logic. When false, trajectories that cross a amber light are always rejected	true
New	traffic_light_filter.deceleration_limit	double	Maximum deceleration [m/s^2] used for pass judge.	2.8
New	traffic_light_filter.jerk_limit	double	Maximum jerk [m/s^3] used for pass judge.	5.0
New	traffic_light_filter.delay_response_time	double	Delay response time [s] used for pass judge.	0.5
New	traffic_light_filter.crossing_time_limit	double	trajectories crossing an amber light are rejected if they cannot cross before this time.	2.75
New	traffic_light_filter.treat_amber_light_as_red_light	double	when true, amber lights are handled like red lights.	1.0

Effects on system behavior

None.

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[codecov]

Codecov Report

❌ Patch coverage is 82.53968% with 11 lines in your changes missing coverage. Please review.
✅ Project coverage is 18.19%. Comparing base (8d07c62) to head (9ff3e6f).

Files with missing lines	Patch %	Lines
...c_rule_filter/src/filters/traffic_light_filter.cpp	81.81%	2 Missing and 8 partials ⚠️
...ffic_rule_filter/traffic_rule_filter_interface.hpp	50.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #12076      +/-   ##
==========================================
+ Coverage   18.14%   18.19%   +0.05%     
==========================================
  Files        1841     1843       +2     
  Lines      126694   126948     +254     
  Branches    44501    47099    +2598     
==========================================
+ Hits        22984    23100     +116     
- Misses      84545    84723     +178     
+ Partials    19165    19125      -40     

Flag	Coverage Δ		*Carryforward flag
daily	20.63% <ø> (-0.01%)	⬇️	Carriedforward from 50491d9
daily-cuda	18.13% <ø> (-0.01%)	⬇️	Carriedforward from 50491d9
differential	13.69% <82.53%> (?)
total-cuda	18.13% <ø> (-0.01%)	⬇️	Carriedforward from 50491d9

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

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[go-sakayori]

nits: Please align with README. Same for other values

[maxime-clem]

I am reworking the function to calculate the ego stop distance (the current one being buggy): autowarefoundation/autoware_core#849
Once the above PR is merged I will update the PR and the parameters.

[maxime-clem]

@go-sakayori I have updated the documentation and the parameters.