fix(avoidance): check far objects during shifting

[satoshi-ota]

Description

🤖[deprecated] Generated by Copilot at c12bae9

Added a condition to helper.hpp to limit obstacle detection range when the vehicle is shifted. This improves the performance of the behavior path avoidance module.

Previously, avoidance behavior was unnatural and wavy. SInce detection area longitudinal distance is based on current ego speed, if the vehicle drives low speed avoidance module doesn't generate far objects. Then, avoidance module doesn't update return path until the vehicle gets closer.

simplescreenrecorder-2023-12-15_18.16.19.mp4

Tests performed

Psim

simplescreenrecorder-2023-12-15_18.04.37.mp4

Effects on system behavior

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Attention: 5 lines in your changes are missing coverage. Please review.

Comparison is base (f2cc50c) 15.35% compared to head (0f47c1e) 15.36%.
Report is 4 commits behind head on main.

Files	Patch %	Lines
.../include/behavior_path_avoidance_module/helper.hpp	28.57%	2 Missing and 3 partials ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5857   +/-   ##
=======================================
  Coverage   15.35%   15.36%           
=======================================
  Files        1747     1747           
  Lines      120058   120050    -8     
  Branches    36539    36538    -1     
=======================================
+ Hits        18440    18441    +1     
+ Misses      80962    80950   -12     
- Partials    20656    20659    +3     

Flag	Coverage Δ		*Carryforward flag
differential	13.36% <28.57%> (?)
total	15.36% <ø> (+<0.01%)	⬆️	Carriedforward from f2cc50c

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.