fix(avoidance): avoid merging vehicle if it's NOT on ego lane.

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/behavior_path_avoidance_module/src/utils.cpp

@@ -618,6 +618,10 @@ bool isForceAvoidanceTarget(
   const std::shared_ptr<const PlannerData> & planner_data,
   const std::shared_ptr<AvoidanceParameters> & parameters)
 {
+  using boost::geometry::within;
+  using lanelet::utils::to2D;
+  using lanelet::utils::conversion::toLaneletPoint;
+
   if (!parameters->enable_force_avoidance_for_stopped_vehicle) {
     return false;
   }
@@ -653,6 +657,12 @@ bool isForceAvoidanceTarget(
   }
 
   const auto & ego_pose = planner_data->self_odometry->pose.pose;
+  const auto on_ego_driving_lane = within(
+    to2D(toLaneletPoint(object_pose.position)).basicPoint(),
+    object.overhang_lanelet.polygon2d().basicPolygon());
+  if (!on_ego_driving_lane) {
+    return true;
+  }
 
   // force avoidance for stopped vehicle
   bool not_parked_object = true;