refactor(avoidance_by_lane_change): rework execution condition

Signed-off-by: Zulfaqar Azmi <[email protected]>

planning/behavior_path_planner/src/scene_module/lane_change/avoidance_by_lane_change.cpp

@@ -44,28 +44,37 @@ bool AvoidanceByLaneChange::specialRequiredCheck() const
     return false;
   }
 
+  const auto & target_objects = avoidance_data_.target_objects;
+  if(target_objects.empty()){
+    return false;
+  }
+
   const auto & object_parameters = avoidance_parameters_->object_parameters;
-  const auto is_more_than_threshold =
-    std::any_of(object_parameters.begin(), object_parameters.end(), [&](const auto & p) {
-      const auto & objects = avoidance_data_.target_objects;
-
-      const size_t num = std::count_if(objects.begin(), objects.end(), [&p](const auto & object) {
-        const auto target_class =
-          utils::getHighestProbLabel(object.object.classification) == p.first;
-        return target_class && object.avoid_required;
-      });
 
-      return num >= p.second.execute_num;
-    });
+  const auto is_more_than_threshold = [&](const auto & p) {
+
+    const auto is_type_to_avoid = [&p](const auto & object) {
+      const auto target_class = utils::getHighestProbLabel(object.object.classification) == p.first;
+      return target_class && object.avoid_required;
+    };
 
-  if (!is_more_than_threshold) {
+    const auto num_of_objects = std::count_if(target_objects.begin(), target_objects.end(), is_type_to_avoid);
+
+    return num_of_objects >= 2;
+  };
+
+  if (!std::any_of(object_parameters.begin(), object_parameters.end(), is_more_than_threshold)) {
     return false;
   }
 
   const auto & front_object = data.target_objects.front();
+  const auto shift_intervals =
+    getRouteHandler()->getLateralIntervalsToPreferredLane(status_.current_lanes.back());
+  const auto common_param = getCommonParam();
+  const auto minimum_lane_change_length = utils::calcMinimumLaneChangeLength(
+    common_param, shift_intervals, common_param.backward_length_buffer_for_end_of_lane);
 
-  const auto THRESHOLD = avoidance_parameters_->execute_object_longitudinal_margin;
-  if (front_object.longitudinal < THRESHOLD) {
+  if (front_object.longitudinal < minimum_lane_change_length) {
     return false;
   }
 
@@ -77,11 +86,7 @@ bool AvoidanceByLaneChange::specialRequiredCheck() const
     avoidance_parameters_->execute_only_when_lane_change_finish_before_object;
   const auto not_enough_distance = front_object.longitudinal < to_lc_end;
 
-  if (execute_only_when_lane_change_finish_before_object && not_enough_distance) {
-    return false;
-  }
-
-  return true;
+  return !(execute_only_when_lane_change_finish_before_object && not_enough_distance);
 }
 
 bool AvoidanceByLaneChange::specialExpiredCheck() const