fix(map_based_prediction): fix search dist

[tkimura4]

Signed-off-by: tomoya.kimura tomoya.kimura@tier4.jp

Description

In map_based_prediction, the searching distance of lanelet is calculated as following.

const double obj_vel = object.kinematics.twist_with_covariance.twist.linear.x;
const double search_dist = horizon * obj_vel + 10.0;

When twist.linear.x is negative, is not calculated correctly, and incorrectly very short predicted_paths are output.

prediction2.mp4

I fixed it.

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[codecov]

Codecov Report

Merging #1348 (4aceef3) into main (adf9cc0) will decrease coverage by 0.12%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1348      +/-   ##
========================================
- Coverage   9.64%   9.51%   -0.13%     
========================================
  Files       1096    1088       -8     
  Lines      77119   70647    -6472     
  Branches   17705   17115     -590     
========================================
- Hits        7436    6724     -712     
+ Misses     62442   57183    -5259     
+ Partials    7241    6740     -501     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.52% <0.00%> (-0.11%)	⬇️	Carriedforward from adf9cc0

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

Impacted Files	Coverage Δ
...based_prediction/src/map_based_prediction_node.cpp	0.00% <0.00%> (ø)
system/default_ad_api/src/interface.cpp	0.00% <0.00%> (-71.43%)	⬇️
..._ad_api_msgs/msg/response_status__type_support.cpp	0.00% <0.00%> (-66.67%)	⬇️
...ng_simulator/vehicle_model/sim_model_interface.hpp	0.00% <0.00%> (-66.67%)	⬇️
...d_api_msgs/srv/interface_version__type_support.cpp	0.00% <0.00%> (-54.55%)	⬇️
.../_autoware_ad_api_msgs_s.ep.rosidl_typesupport_c.c	0.00% <0.00%> (-47.46%)	⬇️
...auto_common/include/helper_functions/type_name.hpp	66.66% <0.00%> (-33.34%)	⬇️
...l/dds_fastrtps/interface_version__type_support.cpp	0.00% <0.00%> (-32.72%)	⬇️
...s/srv/detail/interface_version__type_support_c.cpp	0.00% <0.00%> (-31.00%)	⬇️
...py/autoware_ad_api_msgs/srv/_interface_version_s.c	0.00% <0.00%> (-29.63%)	⬇️
... and 714 more

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[taikitanaka3]

I have observed negative velocity is estimated very ofteten

    initial_twist_with_covariance:
      twist:
        linear:
          x: -10.009830929561032
          y: 0.0
          z: 0.0
        angular:
          x: 0.0
          y: 0.0
          z: 0.004013723628217312

[taikitanaka3]

L