fix(avoidance): stop only when there is enough space to avoid

[satoshi-ota]

Description

Previously, the vehicle stopped in front of the vehicle in not only Scenario A but B. However I think it is better that the avoidance module shonldn't insert stopping velocity, and obstacle stop/cruise planner should do it instead in Scenario B, because the avoidance module never execute avoidance maneuver. In this PR, I update behavior decision logic, and the vehicle stops only when there is enough space to avoid (Scenario A).

	Scenario A	Scenerio B
there is enough space to avoid	YES (is_avoidanble = true)	NO (is_avoidanble = false)
there is enough lateral margin	NO (< lateral_passable_safety_buffer)	NO (< lateral_passable_safety_buffer)
behavior	stop in front of the target object	NOT stop in front of the tqarget object

Test perform

Scenario A

simplescreenrecorder-2023-03-12_14.24.44.mp4

Scenario B

simplescreenrecorder-2023-03-12_14.34.56.mp4

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (2a23a4b) 11.92% compared to head (36fb444) 11.92%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3055   +/-   ##
=======================================
  Coverage   11.92%   11.92%           
=======================================
  Files        1334     1334           
  Lines       92928    92928           
  Branches    24729    24729           
=======================================
  Hits        11078    11078           
  Misses      70370    70370           
  Partials    11480    11480           

Flag	Coverage Δ		*Carryforward flag
differential	5.55% <0.00%> (?)
total	11.92% <ø> (+<0.01%)	⬆️	Carriedforward from 2a23a4b

*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)

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[takayuki5168]

Super cool!