fix(avoidance): fix invalid optional access

[satoshi-ota]

Description

🤖[deprecated] Generated by Copilot at 29517fd

Improved return-to-center shift line generation in behavior_path_avoidance_module. Added a threshold and adjusted the shift point condition to reduce redundant or invalid shift lines.

---

Fix following error:

#9  0x00007f6f607109cd in std::__throw_bad_optional_access () at /usr/include/c++/11/optional:102                                                                                                               
#10 0x00007f6f60714366 in std::optional<behavior_path_planner::ShiftLine>::value() const & (this=0x7f6f406cd200)                                                                                                
    at /usr/include/c++/11/optional:948                                                                 
#11 behavior_path_planner::utils::avoidance::ShiftLineGenerator::addReturnShiftLine (this=0x7f6f406cd1d0, shift_lines=..., data=...,                                                                            
    debug=...) at /home/satoshi/pilot-auto/src/autoware/universe/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp:986                                                                       
#12 0x00007f6f607fee0f in behavior_path_planner::utils::avoidance::ShiftLineGenerator::applyPreProcess (this=0x7f6f406cd1d0,                                                                                    
    outlines=..., data=..., debug=...)                                                                  
    at /home/satoshi/pilot-auto/src/autoware/universe/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp:397                                                                                  
#13 0x00007f6f607fef68 in behavior_path_planner::utils::avoidance::ShiftLineGenerator::update (this=this@entry=0x7f6f406cd1d0, data=...,                                                                        
    debug=...) at /home/satoshi/pilot-auto/src/autoware/universe/planning/behavior_path_avoidance_module/src/shift_line_generator.cpp:110                                                                       
#14 0x00007f6f60728dd4 in behavior_path_planner::AvoidanceModule::updateData (this=0x7f6f406ccd50)                                                                                                              
    at /home/satoshi/pilot-auto/src/autoware/universe/planning/behavior_path_avoidance_module/src/scene.cpp:1196                                                                                                
#15 0x00007f6f6072b288 in behavior_path_planner::SceneModuleInterface::run (this=0x7f6f406ccd50)                                                                                                                
    at /home/satoshi/pilot-auto/install/behavior_path_planner_common/include/behavior_path_planner_common/interface/scene_module_interface.hpp:158
#16 0x00007f6f61d045f7 in behavior_path_planner::PlannerManager::run (this=this@entry=0x7f6f4c110b60,                                                                                                           
    module_ptr=std::shared_ptr<behavior_path_planner::SceneModuleInterface> (use count 4, weak count 1) = {...},                                                                                                
    planner_data=std::shared_ptr<behavior_path_planner::PlannerData> (use count 21, weak count 0) = {...}, previous_module_output=...)                                                                          
    at /home/satoshi/pilot-auto/src/autoware/universe/planning/behavior_path_planner/include/behavior_path_planner/planner_manager.hpp:280 

Tests performed

Psim

Effects on system behavior

Nothing.

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[kyoichi-sugahara]

LGTM!

[codecov]

Codecov Report

Attention: 1644 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (29517fd) 12.73%.
Report is 172 commits behind head on main.

Files	Patch %	Lines
...nning/behavior_path_avoidance_module/src/scene.cpp	13.04%	561 Missing and 92 partials ⚠️
...path_avoidance_module/src/shift_line_generator.cpp	12.99%	443 Missing and 66 partials ⚠️
...nning/behavior_path_avoidance_module/src/utils.cpp	3.75%	195 Missing and 10 partials ⚠️
...th_avoidance_by_lane_change_module/src/manager.cpp	17.70%	0 Missing and 79 partials ⚠️
...nning/behavior_path_avoidance_module/src/debug.cpp	0.00%	61 Missing ⚠️
...ing/behavior_path_avoidance_module/src/manager.cpp	18.86%	0 Missing and 43 partials ⚠️
...test/test_behavior_path_planner_node_interface.cpp	25.53%	0 Missing and 35 partials ⚠️
...test/test_behavior_path_planner_node_interface.cpp	26.08%	0 Missing and 34 partials ⚠️
..._avoidance_by_lane_change_module/src/interface.cpp	28.57%	8 Missing and 2 partials ⚠️
.../include/behavior_path_avoidance_module/helper.hpp	22.22%	5 Missing and 2 partials ⚠️
... and 4 more

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5804       +/-   ##
===========================================
- Coverage   15.32%   12.73%    -2.59%     
===========================================
  Files        1721       18     -1703     
  Lines      118559     3337   -115222     
  Branches    37995     1884    -36111     
===========================================
- Hits        18169      425    -17744     
+ Misses      79657     2163    -77494     
+ Partials    20733      749    -19984     

Flag	Coverage Δ
differential	12.73% <13.24%> (?)
total	?

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