fix(avoidance): don't avoid merging/deviating vehicle whose overhang distance is larger than threshold

[satoshi-ota]

Description

Related PR: autowarefoundation/autoware_launch#974
Related ticket: https://tier4.atlassian.net/browse/RT1-5553

Previous avoidance module creates avoidance path for merging/deviating vehicle. However, sometimes it caused unnatural behavior as follow. In this situation, perception module detected ghost deviationg vehicle and module tried to avoid it with huge leteral shift length. I think the ego should stop behind of the it even if it's not perception false positive because most of the rear of the vehicle is still in Ego's lane.

In this PR, I fixed logic to check overhang distance and ignore such a vehicle.

            "merging_vehicle": {
              "type": "object",
              "properties": {
                "th_overhang_distance": {
                  "type": "number",
                  "description": "Distance threshold between overhang point and ego lane's centerline. If the nearest overhang point of merging/deviating vehicle is less than this param, the module never avoid it. (Basically, the ego stops behind of it.)",
                  "default": 0.5
                }
              },
              "required": ["th_overhang_distance"],
              "additionalProperties": false
            }

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Improve avoidance behavior.

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.

[shmpwk]

LGTM