feat(dynamic_avoidance): use decision with reason

[takayuki5168]

Description

• use decision with reason for avoidance object filtering
• fix time-to-collision to avoid the objects running right beside the ego.

Tests performed

planning simulator

Effects on system behavior

Nothing

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (f211031) 14.80% compared to head (54200d7) 14.80%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4547      +/-   ##
==========================================
- Coverage   14.80%   14.80%   -0.01%     
==========================================
  Files        1527     1527              
  Lines      105594   105614      +20     
  Branches    32066    32078      +12     
==========================================
- Hits        15638    15637       -1     
- Misses      72884    72905      +21     
  Partials    17072    17072              

Flag	Coverage Δ		*Carryforward flag
differential	13.09% <0.00%> (?)
total	14.81% <ø> (+<0.01%)	⬆️	Carriedforward from f211031

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

Files Changed	Coverage Δ
...ule/dynamic_avoidance/dynamic_avoidance_module.hpp	0.00% <0.00%> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00% <0.00%> (ø)
.../scene_module/goal_planner/goal_planner_module.cpp	6.03% <0.00%> (ø)
...cene_module/start_planner/start_planner_module.cpp	4.09% <0.00%> (ø)
...ner/src/utils/goal_planner/geometric_pull_over.cpp	20.83% <0.00%> (ø)
...h_planner/src/utils/goal_planner/goal_searcher.cpp	2.05% <0.00%> (ø)
...planner/src/utils/goal_planner/shift_pull_over.cpp	3.60% <0.00%> (ø)
...ner/src/utils/start_planner/geometric_pull_out.cpp	9.67% <0.00%> (ø)
...planner/src/utils/start_planner/shift_pull_out.cpp	2.85% <0.00%> (ø)
... and 2 more

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