feat(avoidance): improve force avoidance judge logic in order to suppress unnecessary avoidance path

[satoshi-ota]

Description

🤖 Generated by Copilot at 9f3ac65

This pull request refactors the parameters and code of the avoidance module in the behavior path planner. It introduces a new sub-namespace avoidance.target_filtering.force_avoidance for the parameters related to the force avoidance feature for stopped vehicle objects. It also adds new functions and variables to check the intersection and force avoidance status of objects, and simplifies the condition check for vehicle type objects. The changes affect the files avoidance.param.yaml, manager.cpp, utils.cpp, avoidance_module_data.hpp, utils.hpp, and lane_change/manager.cpp.

Please review following PR ar first:
autowarefoundation/autoware_launch#667

---

The avoidance module has a feature to avoid the objects that are ambiguous as to whether they are parked. If the objects are stopping longer than threhold, the module will generate avoidance path for them.

But this feature sometimes generates unnecessary path. Then, I added following two assumption to target object filtering flow:

Assumption1	Assumption2
there is no parked vehicle inside intersection.	there is no parked vehicle on lane that has adjacent lane for both sides.

After this PR, avoidance module doesn't generate avoidance path for them even if it enables force avoidance.

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Attention: 65 lines in your changes are missing coverage. Please review.

Comparison is base (6632d79) 14.73% compared to head (9f3ac65) 14.72%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5441      +/-   ##
==========================================
- Coverage   14.73%   14.72%   -0.01%     
==========================================
  Files        1665     1665              
  Lines      116067   116096      +29     
  Branches    35925    35942      +17     
==========================================
  Hits        17097    17097              
- Misses      79605    79633      +28     
- Partials    19365    19366       +1     

Flag	Coverage Δ		*Carryforward flag
differential	12.17% <0.00%> (?)
total	14.73% <ø> (+<0.01%)	⬆️	Carriedforward from 6632d79

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

Files	Coverage Δ
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
planning/behavior_path_planner/src/utils/utils.cpp	13.72% <0.00%> (-0.06%)	⬇️
...ath_planner/src/scene_module/avoidance/manager.cpp	6.11% <0.00%> (-0.03%)	⬇️
...h_planner/src/scene_module/lane_change/manager.cpp	4.20% <0.00%> (-0.02%)	⬇️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	11.09% <0.00%> (-0.30%)	⬇️

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[tkimura4]

LGTM