fix(avoidance): update logic to keep waiting approval (autowarefounda…

…tion#4059)

* revert "fix(avoidance): don't clear waiting approval if raw shift line exists (autowarefoundation#4012)"

This reverts commit 8577563.

* fix(avoidance): update logic to keep waiting approval

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

@@ -2695,9 +2695,11 @@ BehaviorModuleOutput AvoidanceModule::planWaitingApproval()
     [](const auto & o) { return !o.is_avoidable; });
 
   const auto candidate = planCandidate();
-  if (!avoidance_data_.unapproved_raw_sl.empty()) {
+  if (!data.safe_new_sl.empty()) {
     updateCandidateRTCStatus(candidate);
     waitApproval();
+  } else if (path_shifter_.getShiftLines().empty()) {
+    waitApproval();
   } else if (all_unavoidable) {
     waitApproval();
   } else {