feat(avoidance): output unconfortable path with unsafe state

[satoshi-ota]

Description

🤖 Generated by Copilot at 816a70f

Refactor AvoidanceModule class to improve shift line planning for obstacle avoidance. Add isComfortable function and comfortable flag to filter out uncomfortable shift lines.

---

Add some options to configurate avoidance policy.

      policy:
        # policy for vehicle slow down behavior. select "best_effort" or "reliable".
        # "best_effort": slow down deceleration & jerk are limited by constraints.
        #                but there is a possibility that the vehicle can't stop in front of the vehicle.
        # "reliable": insert stop or slow down point with ignoring decel/jerk constraints.
        #             make it possible to increase chance to avoid but uncomfortable deceleration maybe happen.
        deceleration: "best_effort"                     # [-]
        # policy for avoidance lateral margin. select "best_effort" or "reliable".
        # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal
        #                margin to avoid.
        # "reliable": module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid
        #             with expected lateral margin.
        lateral_margin: "best_effort"                   # [-]
        # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin.
        use_shorten_margin_immediately: true            # [-]

Additionally, make it possible to output unsafe (=lateral jerk exceeds limit value) path with unsafe state.

simplescreenrecorder-2023-08-09_12.05.53.mp4

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Patch coverage: 4.16% and project coverage change: -0.04% ⚠️

Comparison is base (9ac8faf) 14.80% compared to head (55a467c) 14.77%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4536      +/-   ##
==========================================
- Coverage   14.80%   14.77%   -0.04%     
==========================================
  Files        1527     1527              
  Lines      105673   105990     +317     
  Branches    32107    32314     +207     
==========================================
+ Hits        15649    15660      +11     
- Misses      72945    73224     +279     
- Partials    17079    17106      +27     

Flag	Coverage Δ		*Carryforward flag
differential	13.13% <4.16%> (?)
total	14.81% <ø> (+<0.01%)	⬆️	Carriedforward from 9ac8faf

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

Files Changed	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	7.93% <0.00%> (-0.40%)	⬇️
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...ath_planner/src/scene_module/avoidance/manager.cpp	6.86% <0.00%> (-0.22%)	⬇️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	6.56% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	12.17% <9.09%> (+0.08%)	⬆️

... and 2 files with indirect coverage changes

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[satoshi-ota]

Oh...

[satoshi-ota]

@tkimura4 @shmpwk Sorry, I fogot to remove // before merge. I create fix PR right now.

[satoshi-ota]

#4587