feat(avoidance): use traffic light signal info

[satoshi-ota]

Description

Please review following PR at first:
autowarefoundation/autoware_launch#663

In this PR, avoidance module takes traffic light signal recognitino results into consideration so that it can make more natural path at intersection.

The module decides where the ego should return original lane or start avoidance maneuver from traffic light signal.

	Traffic light color: GREEN	Traffic light color: RED
Object is FARTHER than traffic light stop line. (current shift > 0)	return point is sometimes behind the traffic light stop line.	set return point in front of the traffic light stop line.
Object is NEARER than traffic light stop line. (current shift = 0.0)	avoidance start point is sometimes in front of the traffic light stop line.	set avoidance start point behind the traffic light stop line.

Tests performed

Test with TrafficLightPublishPanel.

Traffic light signal: GREEN

simplescreenrecorder-2023-10-25_08.51.00.mp4

Traffic light signal: RED

simplescreenrecorder-2023-10-25_08.51.37.mp4

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Improve avoidance behavior.

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[codecov]

Codecov Report

Attention: 91 lines in your changes are missing coverage. Please review.

Comparison is base (02b2be9) 14.75% compared to head (dbdf28c) 14.75%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5395      +/-   ##
==========================================
- Coverage   14.75%   14.75%   -0.01%     
==========================================
  Files        1662     1662              
  Lines      115741   115826      +85     
  Branches    35764    35818      +54     
==========================================
+ Hits        17081    17091      +10     
- Misses      79344    79394      +50     
- Partials    19316    19341      +25     

Flag	Coverage Δ		*Carryforward flag
differential	12.20% <9.00%> (?)
total	14.76% <ø> (+<0.01%)	⬆️	Carriedforward from 02b2be9

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

Files	Coverage Δ
...anner/include/behavior_path_planner/parameters.hpp	57.14% <ø> (ø)
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...ner/include/behavior_path_planner/data_manager.hpp	34.78% <0.00%> (-15.22%)	⬇️
...ath_planner/src/scene_module/avoidance/manager.cpp	6.00% <0.00%> (-0.14%)	⬇️
...or_path_planner/src/behavior_path_planner_node.cpp	26.81% <0.00%> (-0.50%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	12.16% <4.34%> (+0.06%)	⬆️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	11.63% <15.09%> (+0.23%)	⬆️

... and 2 files with indirect coverage changes

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[kyoichi-sugahara]

LGTM!

[kyoichi-sugahara]

LGTM!