fix(avoidance): don't ignore objects on straight lane in intersection

[satoshi-ota]

Description

Basically, it is able to filter objects that should be avoid with high confidence if the ego goes straight in intersection because the lane infomation defined in HDMap is relatively accurate. On the other hand, it is more difficult to filter avoidance target objects based on right/left turning lane since sometimes thier lane bounds are not painted on ground in real world. Additionally, there are vehicles turn left and merge to ego lane, and ego vehicle doesn't have to avoid them.

Then, avoidance module uses some filtering condition (e.g. objects merging to ego lane are ignored.) for objects on right/left lane in order not to output unnecessary avoidance path.

But I found those condition applied for objects on straight lane unintentionally and caused scenario fails as follow.

simplescreenrecorder-2023-12-24_18.04.10.mp4

In this PR, I fixed this issue and confirmed that avoidance module could output path expectedly.

Tests performed

simplescreenrecorder-2023-12-24_17.56.10.mp4

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Improve avoidance module behavior.

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[codecov]

Codecov Report

Attention: 10 lines in your changes are missing coverage. Please review.

Comparison is base (2e2f184) 15.28% compared to head (f095899) 15.27%.
Report is 10 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/utils.cpp	0.00%	10 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5939      +/-   ##
==========================================
- Coverage   15.28%   15.27%   -0.01%     
==========================================
  Files        1750     1750              
  Lines      120432   120465      +33     
  Branches    36729    36761      +32     
==========================================
+ Hits        18404    18406       +2     
- Misses      81375    81382       +7     
- Partials    20653    20677      +24     

Flag	Coverage Δ		*Carryforward flag
differential	13.22% <0.00%> (?)
total	15.28% <ø> (+<0.01%)	⬆️	Carriedforward from 2e2f184

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