fix(avoidance): add param validation

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

Author: satoshi-ota

planning/behavior_path_avoidance_module/config/avoidance.param.yaml

@@ -209,8 +209,9 @@
           max_left_shift_length: 5.0
           max_deviation_from_lane: 0.5                  # [m]
           # approve the next shift line after reaching this percentage of the current shift line length.
+          # this parameter should be within range of 0.0 to 1.0.
           # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear.
-          # this feature can be disabled by setting this parameter to 0.0.
+          # this feature can be disabled by setting this parameter to 1.0. (in that case, avoidance module creates return shift as soon as possible.)
           ratio_for_return_shift_approval: 0.5          # [-]
         # avoidance distance parameters
         longitudinal:

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/helper.hpp

@@ -294,7 +294,7 @@ class AvoidanceHelper
 
     // keep waiting the other side shift approval until the ego reaches shift length threshold.
     const auto ego_shift_ratio = (current_shift_length - getEgoShift()) / current_shift_length;
-    return ego_shift_ratio < parameters_->ratio_for_return_shift_approval;
+    return ego_shift_ratio < parameters_->ratio_for_return_shift_approval + 1e-3;
   }
 
   bool isShifted() const

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp

@@ -260,6 +260,10 @@ AvoidanceParameters getParameter(rclcpp::Node * node)
       getOrDeclareParameter<double>(*node, ns + "max_deviation_from_lane");
     p.ratio_for_return_shift_approval =
       getOrDeclareParameter<double>(*node, ns + "ratio_for_return_shift_approval");
+    if (p.ratio_for_return_shift_approval < 0.0 || p.ratio_for_return_shift_approval > 1.0) {
+      throw std::domain_error(
+        "ratio_for_return_shift_approval should be within range of 0.0 to 1.0");
+    }
   }
 
   // avoidance maneuver (longitudinal)