fix(behavior_path_planner): change the condition of updateRTCStatus() in avoidance module

[shulanbushangshu]

Description

When the updateRTCStatus() function registers the obstacle avoidance direction, the relative offset calculated by the planCandidate() function will be used as the condition.
But there will be problems when planCandidate() calculates the relative offset.Currently, there are multiple obstacle avoidance points registered at one time, and the relative offset of the last obstacle avoidance point is 0.0.
So the calculation of the offset direction is wrong. An error occurred while updateRTCStatus() was registering.
When updateRTCStatus() has the erro,Obstacle avoidance will not happen .

Related links

Tests performed

Current simulation：

I change the lateral_shift in the planCandidate() function then simulate：

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[codecov]

Codecov Report

Merging #1361 (f8ad3aa) into main (db01212) will decrease coverage by 0.17%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1361      +/-   ##
========================================
- Coverage   9.51%   9.34%   -0.18%     
========================================
  Files       1096    1096              
  Lines      76148   77591    +1443     
  Branches   16991   18030    +1039     
========================================
+ Hits        7244    7248       +4     
- Misses     62292   63605    +1313     
- Partials    6612    6738     +126     

Flag	Coverage Δ		*Carryforward flag
differential	0.79% <0.00%> (?)
total	9.49% <0.00%> (ø)		Carriedforward from 323137f

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

Impacted Files	Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/avoidance/avoidance_utils.cpp	2.40% <0.00%> (-0.52%)	⬇️
planning/behavior_path_planner/src/utilities.cpp	1.02% <0.00%> (-0.04%)	⬇️
...r_path_planner/src/scene_module/pull_over/util.cpp	0.00% <0.00%> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/pull_over/pull_over_module.cpp	0.00% <0.00%> (ø)
.../src/scene_module/side_shift/side_shift_module.cpp	0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...rc/scene_module/scene_module_bt_node_interface.cpp	0.00% <0.00%> (ø)

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[shulanbushangshu]

@rej55 @yukkysaito @tkimura4

[rej55]

LGTM