fix(no_stopping_area): fix stopping in front of a no stopping area in parking on the shoulder

[kaigohirao]

Description

In the current path planning and in the no stopping area module, there is a margin after a no stopping area so that the ego vehicle can’t stop right behind the no stopping areas.

For example, if the distance from the goal position to the end of the no stopping area is shorter than 2.6 m, in the case of the medium size car with the rear overhang about 0.85 m, the ego vehicle can not enter into the no stopping area, which is problematic.

The details of the problem are described in the JIRA Ticket : https://tier4.atlassian.net/browse/RT1-5039

To resolve this problem, I added the following 2 changes to the source file of the no stopping area module.

1. Deletion of the 3 lines ( L327-L329 of the old file ).

   This sets the index value from which to start the search of ego_area_end_idx to be ego_area_start_idx. This is for the consistency with the second modification.

2. Insertion of the 2 lines inside the if block ( L339-L343 of the new file).

   This sets the ego_area_end_idx to be the last index of the interpolated_path whose corresponding point position is inside the no_stopping_area.

   Note: because of this change, the dist_from_area_sum variable is not used any more and also the related calculations are unnecessary. Please make sure that this code file situation will be resolved in the future refactoring, after a consideration on whether or not the margin after no stopping areas should be taken.

Tests performed

I compared the movies of parking on the shoulder near the no stopping area by the cross walk before and after the changes.
The movies are shown in the JIRA Ticket : https://tier4.atlassian.net/browse/RT1-5039.

Effects on system behavior

After the changes, the ego vehicle passes through the no stopping area and stops at the goal right behind the no stopping area.

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[shmpwk]

I'm checking this with scenario simulator.
-> I confirmed there was no degration related to this PR: 2734/2737

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 1 lines in your changes are missing coverage. Please review.

Project coverage is 14.80%. Comparing base (a88a428) to head (574ff6f).
Report is 8 commits behind head on main.

Files	Patch %	Lines
...topping_area_module/src/scene_no_stopping_area.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6517   +/-   ##
=======================================
  Coverage   14.80%   14.80%           
=======================================
  Files        1917     1917           
  Lines      131915   131898   -17     
  Branches    39202    39196    -6     
=======================================
- Hits        19524    19523    -1     
+ Misses      90609    90591   -18     
- Partials    21782    21784    +2     

Flag	Coverage Δ		*Carryforward flag
differential	16.74% <0.00%> (?)
total	14.80% <ø> (+<0.01%)	⬆️	Carriedforward from a88a428

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[shmpwk]

LGTM