feat(avoidance): wait and see ambiguous stopped vehicle

[satoshi-ota]

Description

Related PR: autowarefoundation/autoware_launch#925 (Please approve at first.)
Related ticket: https://tier4.atlassian.net/browse/RT1-5553

Previously, the module generates avoidance path as soon as it detects ambiguous stopped vehicle. However, this sometimes caused unnecessary avoidance maneuver. Basically, we should wait and see such kind vehicles at first. And if necessary, the module should generates avoidance path after closing them.

        avoidance_for_ambiguous_vehicle:
          enable: false                                  # [-]
          closest_distance_to_wait_and_see: 10.0         # [m]
...

After this PR

The module waits avoidance path generation until the ego gets closer to ambiguous vehicle. When the distance between ego and avoidance start point is less than closest_distance_to_wait_and_see, the module generates avoidance path.

simplescreenrecorder-2024-03-17_16.25.03.mp4

Tests performed

webauto ci scenario run --project-id prd_jt --scenario-id 154d2005-59a8-485c-b179-09f653b8571c --scenario-version-id 3 --scenario-parameters '__tier4_modifier_ego_speed=11.1111'

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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[shmpwk]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 88 lines in your changes are missing coverage. Please review.

Project coverage is 14.79%. Comparing base (f82f420) to head (378632a).
Report is 5 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/utils.cpp	0.00%	58 Missing ⚠️
.../include/behavior_path_avoidance_module/helper.hpp	0.00%	10 Missing and 2 partials ⚠️
...th_avoidance_by_lane_change_module/src/manager.cpp	0.00%	0 Missing and 7 partials ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp	0.00%	0 Missing and 7 partials ⚠️
...nning/behavior_path_avoidance_module/src/debug.cpp	0.00%	2 Missing ⚠️
...nning/behavior_path_avoidance_module/src/scene.cpp	0.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6631      +/-   ##
==========================================
+ Coverage   14.77%   14.79%   +0.01%     
==========================================
  Files        1925     1925              
  Lines      132754   133473     +719     
  Branches    39548    40042     +494     
==========================================
+ Hits        19620    19742     +122     
- Misses      91166    91655     +489     
- Partials    21968    22076     +108     

Flag	Coverage Δ		*Carryforward flag
differential	13.08% <0.00%> (?)
total	14.78% <ø> (+<0.01%)	⬆️	Carriedforward from f82f420

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

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