feat(goal_planner): prevent auto approval for unsafe path

[kosuke55]

Description

prevent auto approval for unsafe path

Related links

Tests performed

psim

evaluator_description: feat/safe_auto_approval
2023/11/17 https://evaluation.tier4.jp/evaluation/reports/9fe8115c-a1db-5c02-8159-7c5b283a5c51/?project_id=prd_jt

Notes for reviewers

none

Interface changes

none

Effects on system behavior

none

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[kyoichi-sugahara]

LGTM!

[codecov]

Codecov Report

Attention: 182 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (d4dd8b4) 15.29%.
Report is 24 commits behind head on main.

Files	Patch %	Lines
.../scene_module/goal_planner/goal_planner_module.cpp	1.72%	113 Missing and 1 partial ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00%	34 Missing and 2 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.hpp	15.78%	15 Missing and 1 partial ⚠️
...cene_module/start_planner/start_planner_module.cpp	0.00%	5 Missing ⚠️
...e/behavior_path_planner/utils/avoidance/helper.hpp	0.00%	4 Missing ⚠️
...ath_planner/src/scene_module/avoidance/manager.cpp	0.00%	0 Missing and 4 partials ⚠️
...rivable_area_expansion/drivable_area_expansion.cpp	40.00%	0 Missing and 3 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5621      +/-   ##
==========================================
- Coverage   15.32%   15.29%   -0.03%     
==========================================
  Files        1721     1721              
  Lines      118559   119016     +457     
  Branches    37995    38377     +382     
==========================================
+ Hits        18169    18209      +40     
- Misses      79657    80011     +354     
- Partials    20733    20796      +63     

Flag	Coverage Δ		*Carryforward flag
differential	12.66% <3.70%> (?)
total	15.35% <40.00%> (+0.02%)	⬆️	Carriedforward from 017aed4

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

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[kosuke55]

seems ok with new non rss safer safety check logic, but better to check for certain time

goal_planner_safety_check-2023-11-20_21.46.59.mp4