fix(avoidance): discard envelope polygon if the objects move long distance

[satoshi-ota]

Description

🤖 Generated by Copilot at a06110d

Improved object avoidance logic in behavior_path_planner by using a different envelope polygon function for large motion changes. Renamed and updated utils.cpp accordingly.

Before this PR:

The envelope polygon continues to expand while the object is detected as target even if the object moves a few meter. This may cause unnecessary avoidance maneuver.

simplescreenrecorder-2023-10-25_18.59.56.mp4

After this PR:

The envelope polygon is reset if the latest envelope polygon is larger than threshold.

simplescreenrecorder-2023-10-25_18.52.30.mp4

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Improve avoidance maneuver.

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[codecov]

Codecov Report

Attention: 10 lines in your changes are missing coverage. Please review.

Comparison is base (d6be0d2) 14.75% compared to head (cdd282a) 14.81%.
Report is 31 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5388      +/-   ##
==========================================
+ Coverage   14.75%   14.81%   +0.05%     
==========================================
  Files        1661     1661              
  Lines      115525   117493    +1968     
  Branches    35671    37164    +1493     
==========================================
+ Hits        17047    17401     +354     
- Misses      79231    80503    +1272     
- Partials    19247    19589     +342     

Flag	Coverage Δ		*Carryforward flag
differential	12.15% <9.09%> (?)
total	14.75% <ø> (+<0.01%)	⬆️	Carriedforward from bde24c1

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

Files	Coverage Δ
planning/behavior_path_planner/src/utils/utils.cpp	15.47% <0.00%> (+1.73%)	⬆️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	12.73% <14.28%> (+1.24%)	⬆️

... and 17 files with indirect coverage changes

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