fix(avoidance): fix avoidance path chattering

[satoshi-ota]

Signed-off-by: satoshi-ota satoshi.ota928@gmail.com

Description

Fix avoidance path chattering. In this module, the shift point's start_longitudinal is calculated by using ego closest path index. So, start_longitudinal can be a negative value.

• nominal case

                                                 start_longitudinal (positive value)
                                                     <------> 
-------x-------------------------x------------------o--------x-----------
                                                   ego       ^
                                                   nearest_ego_path_index (shift point start_idx)

• bad case

                             start_longitudinal (nagative value)
                                  <------> 
-------x-------------------------x--------o------------------x-----------
                                 ^       ego
                     nearest_ego_path_index (shift point start_idx)

In this PR, I fixed nearest_ego_path_index caluculation. The index is always in front of the ego position.

                                            start_longitudinal (always positive value)
                                           <----------------> 
-------x-------------------------x--------o------------------x-----------
                                         ego                 ^
                                              nearest_ego_path_index (shift point start_idx)

Before

simplescreenrecorder-2022-10-04_13.43.12.mp4

After (this PR)

simplescreenrecorder-2022-10-04_14.42.26.mp4

Link

[TIER IV internal] https://tier4.atlassian.net/browse/T4PB-20855

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[codecov]

Codecov Report

Base: 10.34% // Head: 10.26% // Decreases project coverage by -0.08% ⚠️

Coverage data is based on head (fe98fc6) compared to base (1c227dc).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2012      +/-   ##
==========================================
- Coverage   10.34%   10.26%   -0.09%     
==========================================
  Files        1162     1162              
  Lines       82752    83414     +662     
  Branches    19275    19794     +519     
==========================================
  Hits         8559     8559              
- Misses      64933    65546     +613     
- Partials     9260     9309      +49     

Flag	Coverage Δ		*Carryforward flag
differential	2.87% <0.00%> (?)
total	10.32% <0.00%> (ø)		Carriedforward from 1c227dc

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

Impacted Files	Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)

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[taikitanaka3]

LGTM
I confirm by Psim

before
https://user-images.githubusercontent.com/65527974/193803219-af29928c-1e31-4213-927f-abb50d86a625.mp4
after
https://user-images.githubusercontent.com/65527974/193802615-041bac7a-128b-4fbb-9886-fa9b81ccf89f.mp4