fix(goal_planner): use precise distance to objects for sorting candidate paths

[kosuke55]

Description

Previously, we used calculateRoughDistanceToObjects to compute the maximum distance between the ego vehicle and surrounding objects when both were rotated. Based on this maximum distance, we selected a corresponding margin from the predefined collision_check_soft_margins list:

collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]  # the maximum margin when ego and objects are oriented

This margin was then used to sort the paths by priority.

For CAR, this approach worked reasonably well — sorting by maximum rough distance closely matched the actual distance-based sorting. However, this method proved problematic for longer vehicles like the BUS, especially when their orientation was perpendicular to the ego path. In such cases, the difference between maximum rough distance and the actual minimum distance became significant, leading to incorrect classification. As a result, nearly all paths were evaluated as having margins over 5.0m, even if they were too close.

This PR introduces a new logic:

1. Calculate rough distance:

• If max_distance < hard_margin, the path is considered a guaranteed collision (margin = 0.0m).
• If min_distance > max(soft_margins) (i.e., > 5.0m), the path is considered definitely safe (margin = 5.0m).

2. Calculate accurate Distance:

• For cases where the rough distance falls between these two thresholds, we now compute the accurate distance between ego and the object, taking into account the orientation and footprint. The result is then used to sort the paths more reliably.

This ensures more accurate path prioritization, especially for larger like BUS or differently-oriented vehicles.

waiting for evaluator (wip
2025/03/18 https://evaluation.tier4.jp/evaluation/reports/52d79305-944b-5c4d-a119-5fc41007a5e5/?project_id=prd_jt

will updae exmaple code too

Related links

Parent Issue:

• teir4 internal ticket: https://tier4.atlassian.net/browse/RT1-8880

How was this PR tested?

psim + reproducer

RT1-8880-2025-03-18_14.31.47.mp4

before : goal close to object is selected

evaluator:
https://evaluation.tier4.jp/evaluation/reports/3d1c6b77-e2e8-5ef8-b319-0298ded5b815?project_id=prd_jt&state=failed 3750/3752

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 6.66667% with 28 lines in your changes missing coverage. Please review.

Project coverage is 26.23%. Comparing base (63c5607) to head (5985164).
Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
...mon/src/utils/path_safety_checker/safety_check.cpp	10.52%	17 Missing ⚠️
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	11 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10296      +/-   ##
==========================================
+ Coverage   25.94%   26.23%   +0.28%     
==========================================
  Files        1383     1387       +4     
  Lines      106833   106882      +49     
  Branches    40912    40922      +10     
==========================================
+ Hits        27722    28037     +315     
+ Misses      76403    76146     -257     
+ Partials     2708     2699       -9     

Flag	Coverage Δ		*Carryforward flag
differential	26.28% <6.66%> (?)
total	25.94% <ø> (+<0.01%)	⬆️	Carriedforward from 63c5607

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[soblin]

英語の文法を分かりやすくして下さい

"threshold for collision check when the minimum distance between ego"

[soblin]

Suggested change

	double calculate_distance_to_objects_from_path(
	double shortest_distance_from_ego_footprint_to_objects_on_path(