feat(safety_check): add hysteresis factor in safety check logic

[satoshi-ota]

Description

🤖 Generated by Copilot at de27076

Implemented a new hysteresis mechanism for the avoidance module in the behavior path planner. This mechanism uses a hysteresis_factor_safe_count and a hysteresis_factor_expand_rate to avoid switching paths too frequently and to adjust the safety margin for the collision check. Renamed and added parameters in avoidance.param.yaml and related files to reflect this change.

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

improve avoidance safety check judgement

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[kyoichi-sugahara]

Super thanks so much for quick implemtentation!!!!!
LGTM

[codecov]

Codecov Report

Patch coverage: 7.69% and project coverage change: -0.01% ⚠️

Comparison is base (febb7d5) 15.10% compared to head (da218af) 15.10%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4735      +/-   ##
==========================================
- Coverage   15.10%   15.10%   -0.01%     
==========================================
  Files        1563     1563              
  Lines      107946   107954       +8     
  Branches    33140    33143       +3     
==========================================
+ Hits        16303    16304       +1     
- Misses      73871    73877       +6     
- Partials    17772    17773       +1     

Flag	Coverage Δ		*Carryforward flag
differential	13.15% <7.69%> (?)
total	15.10% <ø> (+<0.01%)	⬆️	Carriedforward from febb7d5

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

Files Changed	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	7.81% <ø> (ø)
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...ath_planner/src/scene_module/avoidance/manager.cpp	6.53% <0.00%> (-0.03%)	⬇️
...h_planner/src/scene_module/lane_change/manager.cpp	6.62% <0.00%> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	4.00% <ø> (ø)
...ehavior_path_planner/src/utils/avoidance/utils.cpp	9.55% <0.00%> (ø)
...ner/src/utils/path_safety_checker/safety_check.cpp	30.59% <0.00%> (-0.47%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	11.54% <20.00%> (+0.03%)	⬆️

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