fix(behavior_path_planner): replace lost count to lost time

[zulfaqar-azmi-t4]

The PR aims to replace integer count to time-based.

Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

Description

Previous perception lost is handle by counting integer value lost_count parameter from the ObjectData. However, it might be suitable to use time-based as the metric. This PR aims to replace lost_count with last_seen.

Note behavior changes should be observed.

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[codecov]

Codecov Report

Merging #1142 (528ab27) into main (47e517a) will decrease coverage by 0.11%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1142      +/-   ##
========================================
- Coverage   9.60%   9.48%   -0.12%     
========================================
  Files       1072    1074       +2     
  Lines      73923   74856     +933     
  Branches   16256   16950     +694     
========================================
+ Hits        7098    7099       +1     
- Misses     60278   61067     +789     
- Partials    6547    6690     +143     

Flag	Coverage Δ		*Carryforward flag
differential	0.89% <0.00%> (?)
total	9.58% <0.00%> (ø)		Carriedforward from 47e517a

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

Impacted Files	Coverage Δ
.../include/behavior_path_planner/debug_utilities.hpp	0.00% <0.00%> (ø)
...r/scene_module/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.35% <0.00%> (+0.11%)	⬆️
...ning/behavior_path_planner/src/debug_utilities.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
..._path_planner/src/scene_module/avoidance/debug.cpp	0.00% <0.00%> (ø)
...e/obstacle_avoidance_planner/eb_path_optimizer.hpp	0.00% <ø> (ø)
...anner/include/obstacle_avoidance_planner/utils.hpp	0.00% <ø> (ø)
...stacle_avoidance_planner/src/eb_path_optimizer.cpp	0.00% <0.00%> (ø)
...g/obstacle_avoidance_planner/src/mpt_optimizer.cpp	0.00% <0.00%> (ø)
... and 9 more

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[tkimura4]

LGTM

@zulfaqar-azmi-t4
Could you also update the paramerter file in autoware_launch?

[zulfaqar-azmi-t4]

@tkimura4
Yes sure! I will make a PR for the update.

[zulfaqar-azmi-t4]

@tkimura4
The PR for the launch is added here tier4/autoware_launch#384.