fix(avoidance): fix lateral distance calculation

[satoshi-ota]

Description

🤖 Generated by Copilot at 4cc379f

The pull request improves the object avoidance logic in the behavior path planner by using the reference path instead of the ego pose to calculate the overhang and road shoulder distances of objects. It modifies the function calcEnvelopeOverhangDistance and updates its calls in avoidance_module.cpp and avoidance_by_lane_change.cpp.

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Before this PR

Since there is a bug in shiftable length caluclation logic, sometimes it outputs unfeasible (outside drivable area) avoidance path.

Psim

After this PR

In this PR, module calculates precise distance between object polygon and road shoulder so that it can judge if the ego is able to avoid and path is feasible.

const auto d = boost::geometry::distance(o.envelope_poly, to2D(line.basicLineString()));

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Fix invalid behavior

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.06% ⚠️

Comparison is base (124dc1d) 15.11% compared to head (cbf96c6) 15.06%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4820      +/-   ##
==========================================
- Coverage   15.11%   15.06%   -0.06%     
==========================================
  Files        1573     1573              
  Lines      108324   108727     +403     
  Branches    33256    33533     +277     
==========================================
+ Hits        16369    16375       +6     
- Misses      74121    74495     +374     
- Partials    17834    17857      +23     

Flag	Coverage Δ		*Carryforward flag
differential	13.01% <0.00%> (?)
total	15.11% <ø> (+<0.01%)	⬆️	Carriedforward from 124dc1d

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

Files Changed	Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp	11.41% <0.00%> (-0.02%)	⬇️
...ne_module/lane_change/avoidance_by_lane_change.cpp	0.00% <0.00%> (ø)
...ehavior_path_planner/src/utils/avoidance/utils.cpp	9.65% <0.00%> (-0.02%)	⬇️

... and 2 files with indirect coverage changes

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[tkimura4]

LGTM