fix(avoidance): unintentional path cut

[satoshi-ota]

Description

🤖[deprecated] Generated by Copilot at 7df9214

Fix path shortening bug in behavior_path_avoidance_module by creating a temporary copy of the path before cutting overlapping lanes. This prevents modifying the original path from the previous module output.

---

Previously, avoidance module changed input path unintentionally even when the module was NOT running.

 const auto shorten_lanes =
    utils::cutOverlappedLanes(*getPreviousModuleOutput().path, data.drivable_lanes);

In this PR, I use copied variable.

  auto tmp_path = *getPreviousModuleOutput().path;
  const auto shorten_lanes = utils::cutOverlappedLanes(tmp_path, data.drivable_lanes);

Additionally, I use PathWithLaneId instead of PathWithLaneId::SharedPtr in BehaviorModuleOutput struct in order to prevent this kind of bugs.

simplescreenrecorder-2023-12-15_18.33.18.mp4

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

webauto ci scenario run --project-id prd_jt --scenario-id 380415ee-f507-4676-8a15-e1eff8f7d4c7 --scenario-version-id 1

simplescreenrecorder-2023-12-15_18.42.12.mp4

Effects on system behavior

Bug fix.

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[codecov]

Codecov Report

Attention: 87 lines in your changes are missing coverage. Please review.

Comparison is base (2175b57) 15.29% compared to head (67dac3f) 15.29%.
Report is 1 commits behind head on main.

Files	Patch %	Lines
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	16 Missing ⚠️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	6.25%	13 Missing and 2 partials ⚠️
...ing/behavior_path_lane_change_module/src/scene.cpp	0.00%	12 Missing ⚠️
...nning/behavior_path_avoidance_module/src/scene.cpp	28.57%	6 Missing and 4 partials ⚠️
...behavior_path_lane_change_module/src/interface.cpp	0.00%	7 Missing ⚠️
...ning/behavior_path_side_shift_module/src/scene.cpp	12.50%	4 Missing and 3 partials ⚠️
..._start_planner_module/src/start_planner_module.cpp	0.00%	7 Missing ⚠️
...ning/behavior_path_planner/src/planner_manager.cpp	50.00%	2 Missing and 2 partials ⚠️
...avior_path_planner_common/src/utils/path_utils.cpp	0.00%	0 Missing and 4 partials ⚠️
..._planner_module/src/default_fixed_goal_planner.cpp	0.00%	2 Missing ⚠️
... and 2 more

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5887   +/-   ##
=======================================
  Coverage   15.29%   15.29%           
=======================================
  Files        1747     1747           
  Lines      120123   120133   +10     
  Branches    36574    36577    +3     
=======================================
+ Hits        18377    18380    +3     
- Misses      81129    81135    +6     
- Partials    20617    20618    +1     

Flag	Coverage Δ		*Carryforward flag
differential	11.71% <13.00%> (?)
total	15.30% <ø> (+<0.01%)	⬆️	Carriedforward from 2175b57

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

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[rej55]

LGTM