feat(avoidance): wait and see the ambiguous stopped vehicle

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

Author: satoshi-ota

planning/behavior_path_avoidance_module/src/shift_line_generator.cpp

@@ -276,6 +276,22 @@ AvoidOutlines ShiftLineGenerator::generateAvoidOutline(
 
     // calculate feasible shift length based on behavior policy
     const auto feasible_shift_profile = get_shift_profile(o, desire_shift_length);
+
+    if (o.is_ambiguous) {
+      const auto prepare_distance = helper_->getMinimumPrepareDistance();
+      const auto constant_distance = helper_->getFrontConstantDistance(o);
+      const auto avoidance_distance = helper_->getMinAvoidanceDistance(desire_shift_length);
+      const auto decelaration_distance =
+        std::max(10.0, helper_->getFeasibleDecelDistance(0.0, false));
+      if (
+        o.longitudinal >
+        prepare_distance + constant_distance + avoidance_distance + decelaration_distance) {
+        o.reason = "AmbiguousStoppedVehicle(wait-and-see)";
+        o.is_avoidable = feasible_shift_profile.has_value();
+        continue;
+      }
+    }
+
     if (!feasible_shift_profile.has_value()) {
       if (o.avoid_required && is_forward_object(o)) {
         break;