fix(avoidance): don't slow down if avoidance is NOT definitely necessary during unsafe condition

[satoshi-ota]

Description

Fix bug. The module inserts stop point unexpectedly even when it is not able to generate valid avoidance path.

Failed scenarios: UC-v2-F-15-00103_001_case01_cmn_general

Please approve autowarefoundation/autoware_launch#928 at first.

Tests performed

webauto ci scenario run --project-id prd_jt --scenario-id c10116dc-4e4b-4703-91ca-b8be78209633 --scenario-version-id 1

simplescreenrecorder-2024-03-20_12.32.25.mp4

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[danielsanchezaran]

Thanks for creating this PR so quickly it LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 22 lines in your changes are missing coverage. Please review.

Project coverage is 14.78%. Comparing base (46ac827) to head (214bcfe).
Report is 1 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/scene.cpp	0.00%	19 Missing ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp	0.00%	0 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6355      +/-   ##
==========================================
- Coverage   14.78%   14.78%   -0.01%     
==========================================
  Files        1925     1925              
  Lines      132731   132736       +5     
  Branches    39521    39529       +8     
==========================================
  Hits        19625    19625              
- Misses      91133    91139       +6     
+ Partials    21973    21972       -1     

Flag	Coverage Δ		*Carryforward flag
differential	13.07% <0.00%> (?)
total	14.78% <ø> (+<0.01%)	⬆️	Carriedforward from 46ac827

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

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[kyoichi-sugahara]

LGTM!