fix(avoidance): unexpected stop decision in avoidance module

[satoshi-ota]

Description

ISSUE-1: There is an inconsistency between avoidable check and path validation.

In following case, the module judge the object is avoidable but the output path violates jerk limitation. The cause is that the module validates path safety with same parameter for path generation. In order to fix this issue, I added small margin to confortable check condition.

  bool isComfortable(const AvoidLineArray & shift_lines) const
  {
    const auto JERK_BUFFER = 0.1;  // [m/sss]
    return std::all_of(shift_lines.begin(), shift_lines.end(), [&](const auto & line) {
      return PathShifter::calcJerkFromLatLonDistance(
               line.getRelativeLength(), line.getRelativeLongitudinal(), getAvoidanceEgoSpeed()) <
             getLateralMaxJerkLimit() + JERK_BUFFER;
    });
  }

ISSUE-2: Insert stop point in avoidance module even when it judge the object is NOT avoidable.

Basically, avoidance module inserts stop point only for objects it can avoid. But sometimes the module inserts stop point unexpectedly for unavoidable objects as follow. This causes stuck.

Tests performed

• Psim

simplescreenrecorder-2024-02-06_09.36.23.mp4

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Fix bug.

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[kyoichi-sugahara]

problem could be reproduced

[kyoichi-sugahara]

confirmed this problem is solved 👍

[kyoichi-sugahara]

LGTM!