fix(avoidance): check moving distance

[satoshi-ota]

Description

Related PR: autowarefoundation/autoware_launch#747

Avoidance module basically avoid only objects that have offset from current lane (e.g. parked vehicle on road shoulder). But sometimes we met the situation where it is difficult to judge whether the vehicle is parked or not by only their shift length. In that case, avoidance module checks the time duration since the object speed is less than threshold.

However, following behavior is caused by this feature.

simplescreenrecorder-2023-12-20_09.22.31.mp4

In this PR, I added another condition to that feature, and check moving distance. If the object moves more than threshold, avoidance module judges the object is NOT parked vehicle and ignore it even if its speed is less than threshold.

Tests performed

Psim

object has small speed.

simplescreenrecorder-2023-12-20_09.16.41.mp4

object completely stopped.

simplescreenrecorder-2023-12-20_09.16.04.mp4

Effects on system behavior

Nothing.

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[rej55]

LGTM

[codecov]

Codecov Report

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

Comparison is base (c9b9fca) 15.29% compared to head (76f9ba0) 15.30%.
Report is 9 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/utils.cpp	0.00%	11 Missing ⚠️
...ehavior_path_avoidance_module/parameter_helper.hpp	0.00%	0 Missing and 2 partials ⚠️
...nning/behavior_path_avoidance_module/src/scene.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5922   +/-   ##
=======================================
  Coverage   15.29%   15.30%           
=======================================
  Files        1748     1748           
  Lines      120279   120253   -26     
  Branches    36673    36643   -30     
=======================================
  Hits        18399    18399           
+ Misses      81247    81243    -4     
+ Partials    20633    20611   -22     

Flag	Coverage Δ		*Carryforward flag
differential	13.42% <0.00%> (?)
total	15.30% <ø> (+<0.01%)	⬆️	Carriedforward from c9b9fca

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