feat(avoidance): consider objects on shift side lane

[satoshi-ota]

Description

Related tickets: https://tier4.atlassian.net/browse/RT1-4740

This PR includes following two modifications of stopped objects handling:

1. do NOT consider stopped object in safety check logic.

commit: 0cedbfc

Previously, the avoidance module considered all objects in safety check logic. But sometimes it judged UNSAFE for stopped object on shift side lane. This caused unnecessary yield maneuver. (Basically, I don't think it's meaningless to yield for stopped objects.) Therefore, I fixed logic in order to ignore them in safety check logic.

2. consider stopped object in shift length calculation even if it's NOT an avoidance target.

commit: e6f5cab

On the other hand, it need to consider stopped object in avoidance path generation step because if the module doesn't take care of the stopped objects at all, its avoidance path is maybe closer to shift side stopped objects. So, I fixed logic of shiftable length calculation so that it can output distance to stopped objects.

simplescreenrecorder-2024-01-31_17.45.41.mp4

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Improve avoidance maneuver.

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[kyoichi-sugahara]

LGTM!
sorry for late approval

[codecov]

Codecov Report

Attention: 69 lines in your changes are missing coverage. Please review.

Comparison is base (7cb77dd) 14.86% compared to head (6acafbc) 14.86%.
Report is 2 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/utils.cpp	6.00%	37 Missing and 10 partials ⚠️
...nning/behavior_path_avoidance_module/src/scene.cpp	16.66%	7 Missing and 3 partials ⚠️
...nning/behavior_path_avoidance_module/src/debug.cpp	0.00%	7 Missing ⚠️
...path_avoidance_by_lane_change_module/src/scene.cpp	40.00%	1 Missing and 2 partials ⚠️
.../include/behavior_path_avoidance_module/helper.hpp	0.00%	1 Missing ⚠️
...path_avoidance_module/src/shift_line_generator.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6252      +/-   ##
==========================================
- Coverage   14.86%   14.86%   -0.01%     
==========================================
  Files        1845     1845              
  Lines      126636   126649      +13     
  Branches    37876    37890      +14     
==========================================
+ Hits        18823    18824       +1     
- Misses      86655    86657       +2     
- Partials    21158    21168      +10     

Flag	Coverage Δ		*Carryforward flag
differential	12.98% <9.21%> (?)
total	14.86% <ø> (+<0.01%)	⬆️	Carriedforward from 7cb77dd

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