fix(behavior_path_planner): fix turn singal output in a avoidance sequence

[tkimura4]

Description

Fix bug of the turn signal output in a avoidance sequence in behavior_path_planner.

• With the current implementation, the turn signal turned on only when the shift point of the avoidance was within search_distance(default: 30m). But it is unnecessary because the timing of the turn signal is already contolled properly by the parameters turn_light_on_threshold_time and turn_light_on_threshold_dis_long. So, I deleted search_distance parameter.

• There are the cases that the turn signal did not turn on in a avoidance sequence by overwriting the intersection with the straight lane-attribute. So, when a lane attribute is straight, set distance field to std::numeric_limits::max() in getIntersectionTurnSignal().

Related links

Tests performed

I confirmd that there is no problem with the output of the turn signal during avoidance.

Before:
https://user-images.githubusercontent.com/59680180/182604787-83d91ed6-52e9-4012-9752-fb203fed3bcc.mp4
After:
https://user-images.githubusercontent.com/59680180/182604818-fa9982b7-5744-4a94-af85-917dc9878c2e.mp4

The turn signal output in lane_change sequence seems to be also OK.

2022-08-03-21-11-25.mp4

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[codecov]

Codecov Report

Merging #1511 (aa96155) into main (01a83cb) will decrease coverage by 0.06%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1511      +/-   ##
==========================================
- Coverage   10.38%   10.32%   -0.07%     
==========================================
  Files        1136     1136              
  Lines       79465    79895     +430     
  Branches    18483    18772     +289     
==========================================
- Hits         8250     8246       -4     
- Misses      63013    63430     +417     
- Partials     8202     8219      +17     

Flag	Coverage Δ		*Carryforward flag
differential	0.79% <0.00%> (?)
total	10.35% <0.00%> (-0.01%)	⬇️	Carriedforward from 3f25602

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <0.00%> (ø)
...r/scene_module/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...er/scene_module/lane_change/lane_change_module.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.36% <ø> (+0.13%)	⬆️
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
.../behavior_path_planner/src/turn_signal_decider.cpp	0.00% <ø> (ø)
planning/obstacle_stop_planner/src/node.cpp	0.00% <0.00%> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	73.58% <0.00%> (-9.44%)	⬇️
... and 8 more

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[shmpwk]

LGTM
The test video where the ego puts turn signal before avoiding.