fix(goal_planner): goal planner sudden decel

[kosuke55]

Description

Fixed a sudden slowdown in the goal planner due to loose criteria with stop_distance_buffer for hasEnoghDistance
In this PR use the buffer only when the ego is stopped.

e.g. lane change -> goal planner

goal_planner_stop-2023-08-04_21.14.00.mp4

Related links

Tests performed

psim

tier4 internal sceanrio simulator

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (e39c928) 14.85% compared to head (ecbb2db) 14.85%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4529      +/-   ##
==========================================
- Coverage   14.85%   14.85%   -0.01%     
==========================================
  Files        1521     1521              
  Lines      105206   105229      +23     
  Branches    32013    32023      +10     
==========================================
  Hits        15627    15627              
- Misses      72507    72529      +22     
- Partials    17072    17073       +1     

Flag	Coverage Δ		*Carryforward flag
differential	13.19% <0.00%> (?)
total	14.86% <ø> (+0.01%)	⬆️	Carriedforward from e39c928

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

Files Changed	Coverage Δ
...ule/dynamic_avoidance/dynamic_avoidance_module.hpp	0.00% <0.00%> (ø)
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/dynamic_avoidance/manager.cpp	0.00% <0.00%> (ø)
.../scene_module/goal_planner/goal_planner_module.cpp	6.01% <0.00%> (-0.05%)	⬇️

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