feat(dynamic_avoidance): change the logic of longitudinal distance to…

[takayuki5168]

Description

• implemented time_while_collision instead of time_to_collision that includes time_to_start/end_collision.
  • If there is no collision, the time will be infinite.
• changed the logic of longitudinal distance to avoid
  • When the object is in the same direction as the ego, the start position to avoid is calculated keeping the distance assuming that the object may decelerate.
  • When the object is in the opposite direction of the ego, the start position to avoid is calculated by TTC.
• Fixed the issue of the unstable ends' position for avoidance by calcValidLengthToAvoid.

Tests performed

psim

Effects on system behavior

Nothing

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[codecov]

Codecov Report

Attention: 109 lines in your changes are missing coverage. Please review.

Comparison is base (a4ef3a0) 15.29% compared to head (c50519d) 15.20%.
Report is 31 commits behind head on main.

Files	Patch %	Lines
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00%	105 Missing ⚠️
...ner/src/scene_module/dynamic_avoidance/manager.cpp	0.00%	0 Missing and 4 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5947      +/-   ##
==========================================
- Coverage   15.29%   15.20%   -0.10%     
==========================================
  Files        1747     1748       +1     
  Lines      120251   122946    +2695     
  Branches    36656    38096    +1440     
==========================================
+ Hits        18390    18691     +301     
- Misses      81234    83167    +1933     
- Partials    20627    21088     +461     

Flag	Coverage Δ		*Carryforward flag
differential	9.35% <0.00%> (?)
total	15.29% <ø> (+<0.01%)	⬆️	Carriedforward from 8dff63d

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