fix(avoidance): output invalid avoidance path with unsafe state

[satoshi-ota]

Description

🤖[deprecated] Generated by Copilot at 92ce4cb

Improved the avoidance module in behavior_path_planner to handle invalid avoid data and simplify the code. Refactored the isExecutionReady, fillShiftLine, and fillEgoStatus functions in avoidance_module.cpp.

---

Previously, it couldn't approve the avoidance shift path correctly if return shift line was invaild. (invalid means out of lane.) This causes following wierd behavior.

simplescreenrecorder-2023-11-29_10.03.40.mp4

In above situation, the vehicle is probably stuck in front of the obstacle. But I think it is better to create avoidance path even if it can't find valid return path in avoidance module because there is a possibility that other modules (e.g. obstacle avoidance planner in motion layer) can generate feasible path which is in drivable area.

Tests performed

Invalid path (path points are closer to drivable bound than threshold) is outputted as unsafe state.

simplescreenrecorder-2023-11-29_09.59.07.mp4

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Attention: 1639 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (c19b3dc) 12.75%.
Report is 181 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/scene.cpp	13.11%	559 Missing and 90 partials ⚠️
...path_avoidance_module/src/shift_line_generator.cpp	12.99%	443 Missing and 66 partials ⚠️
...nning/behavior_path_avoidance_module/src/utils.cpp	3.75%	195 Missing and 10 partials ⚠️
...th_avoidance_by_lane_change_module/src/manager.cpp	17.70%	0 Missing and 79 partials ⚠️
...nning/behavior_path_avoidance_module/src/debug.cpp	0.00%	61 Missing ⚠️
...ing/behavior_path_avoidance_module/src/manager.cpp	18.86%	0 Missing and 43 partials ⚠️
...test/test_behavior_path_planner_node_interface.cpp	25.53%	0 Missing and 35 partials ⚠️
...test/test_behavior_path_planner_node_interface.cpp	26.66%	0 Missing and 33 partials ⚠️
..._avoidance_by_lane_change_module/src/interface.cpp	28.57%	8 Missing and 2 partials ⚠️
.../include/behavior_path_avoidance_module/helper.hpp	22.22%	5 Missing and 2 partials ⚠️
... and 4 more

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5689       +/-   ##
===========================================
- Coverage   15.32%   12.75%    -2.57%     
===========================================
  Files        1721       18     -1703     
  Lines      118559     3332   -115227     
  Branches    37995     1881    -36114     
===========================================
- Hits        18169      425    -17744     
+ Misses      79657     2161    -77496     
+ Partials    20733      746    -19987     

Flag	Coverage Δ
differential	12.75% <13.28%> (?)
total	?

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[kyoichi-sugahara]

LGTM