fix(avoidance): calculate road shoulder distance for prev and next lanelet

[satoshi-ota]

Description

🤖 Generated by Copilot at 040b8d9

Refactored utils.cpp to extend distance calculation to all lanelets that an object overhangs. This improves the object filtering for collision avoidance.

related link: TIER IV INTERNAL LINK

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Before this PR, the distance between overhang point and road shoulder is not calculated properly because the module only checks intersection area bound of overhang lanelet but not for prev & next one.

Screencast.from.2023.10.24.16.02.26.webm

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Attention: 14 lines in your changes are missing coverage. Please review.

Comparison is base (db27686) 14.80% compared to head (6a05855) 14.80%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5226      +/-   ##
==========================================
- Coverage   14.80%   14.80%   -0.01%     
==========================================
  Files        1661     1661              
  Lines      115448   115459      +11     
  Branches    35642    35647       +5     
==========================================
  Hits        17093    17093              
- Misses      79109    79120      +11     
  Partials    19246    19246              

Flag	Coverage Δ		*Carryforward flag
differential	12.66% <0.00%> (?)
total	14.80% <ø> (+<0.01%)	⬆️	Carriedforward from db27686

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

Files	Coverage Δ
planning/behavior_path_planner/src/utils/utils.cpp	13.59% <0.00%> (-0.05%)	⬇️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	11.39% <0.00%> (-0.09%)	⬇️

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[kyoichi-sugahara]

LGTM! Thanks