feat(avoidance): additional buffer for perception noise

[satoshi-ota]

Description

Assumption: Perception results for far objects have larger detection error than the result for near one.

Sometimes, the avoidance module changes the judgement whether the ego should avoid or not after the ego gets quite a bit closer to the object because of the detection error. The judgement chattering causes unexpected sudden deceleration so that the module keeps avoidable distance to object.

In this PR, it is able to set max_expand_ratio > 0, and the avoidance module expands objects envelope_polygon_buffer and safety_buffer_lateral based on the distance between the ego and object so that far objects are judged to be avoided more frequently than nearby objects. As a result, it prevents a sudden change from "not need to avoid" to "should avoid" after approaching it.

⬇️ This must be merged before this PR.
autowarefoundation/autoware_launch#373

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (959f3e4) 15.43% compared to head (1f0fcc9) 15.44%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3855   +/-   ##
=======================================
  Coverage   15.43%   15.44%           
=======================================
  Files        1350     1350           
  Lines       96002    95951   -51     
  Branches    29700    29658   -42     
=======================================
  Hits        14817    14817           
+ Misses      65033    64975   -58     
- Partials    16152    16159    +7     

Flag	Coverage Δ		*Carryforward flag
differential	13.12% <0.00%> (?)
total	15.45% <ø> (+0.02%)	⬆️	Carriedforward from 959f3e4

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

Impacted Files	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	18.53% <0.00%> (-0.12%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	4.05% <0.00%> (+0.17%)	⬆️
...ne_module/lane_change/avoidance_by_lane_change.cpp	0.00% <0.00%> (ø)
...cene_module/start_planner/start_planner_module.cpp	5.69% <0.00%> (-0.11%)	⬇️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	2.93% <0.00%> (-0.01%)	⬇️

... and 1 file with indirect coverage changes

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[kyoichi-sugahara]

LGTM