feat(dynamic_avoidance): consider shifting objects

[takayuki5168]

Description

The current dynamic avoidance cannot deal with early avoidance against the object laterally coming close to the ego for avoiding parked vehicles since the predicted path is not used due to its instability.

This PR will fix the issue by extracting the objects from the drivable area with "the lateral offset to shift in X [seconds]" by the object's lateral velocity.

simplescreenrecorder-2023-08-07_21.57.30.mp4

Tests performed

planning simulator

Effects on system behavior

Nothing

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (48129f1) 14.81% compared to head (535e4a1) 14.81%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4545   +/-   ##
=======================================
  Coverage   14.81%   14.81%           
=======================================
  Files        1526     1526           
  Lines      105559   105556    -3     
  Branches    32063    32059    -4     
=======================================
  Hits        15638    15638           
  Misses      72846    72846           
+ Partials    17075    17072    -3     

Flag	Coverage Δ		*Carryforward flag
differential	13.11% <0.00%> (?)
total	14.81% <ø> (+<0.01%)	⬆️	Carriedforward from 48129f1

*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% <ø> (ø)
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00% <0.00%> (ø)
...n_planner/src/lanelet2_plugins/default_planner.cpp	22.00% <ø> (ø)
planning/route_handler/src/route_handler.cpp	25.05% <ø> (+0.11%)	⬆️

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