feat(avoidance): suppress unnecessary avoidance path

[satoshi-ota]

Description

🤖 Generated by Copilot at 806fcd3

This pull request refactors and improves the filterTargetObjects function in planning/behavior_path_planner/src/utils/avoidance/utils.cpp by extracting some logic into separate functions and using utility functions from tier4_autoware_utils/math/unit_conversion.hpp. It also adds two new functions, isParkedOnRoadShoulder and toPolygon2d, in planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp and planning/behavior_path_planner/src/utils/utils.cpp, to check if an object is parked on the road shoulder and to convert lanelet polygons to boost geometry polygons. These changes aim to simplify the code and improve readability, maintainability, and performance.

Please review following PR at first:
autowarefoundation/autoware_launch#668

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Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 1237 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (0502050) 12.62%.
Report is 56 commits behind head on main.

Files	Patch %	Lines
...s/drivable_area_expansion/static_drivable_area.cpp	11.54%	623 Missing and 74 partials ⚠️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	4.27%	169 Missing and 10 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.cpp	1.48%	132 Missing and 1 partial ⚠️
...cene_module/start_planner/start_planner_module.cpp	7.27%	51 Missing ⚠️
planning/behavior_path_planner/src/utils/utils.cpp	35.89%	31 Missing and 19 partials ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	2.43%	38 Missing and 2 partials ⚠️
...ing/behavior_path_planner/src/utils/path_utils.cpp	42.30%	0 Missing and 30 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.hpp	15.78%	15 Missing and 1 partial ⚠️
...th_planner/src/scene_module/lane_change/normal.cpp	0.00%	14 Missing ⚠️
...ner/src/utils/path_safety_checker/safety_check.cpp	0.00%	7 Missing ⚠️
... and 8 more

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5387       +/-   ##
===========================================
- Coverage   15.32%   12.62%    -2.71%     
===========================================
  Files        1721      107     -1614     
  Lines      118559    14997   -103562     
  Branches    37995     8404    -29591     
===========================================
- Hits        18169     1893    -16276     
+ Misses      79657    10156    -69501     
+ Partials    20733     2948    -17785     

Flag	Coverage Δ
differential	12.62% <11.70%> (?)
total	?

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-5387/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-5387/planning/behavior_path_planner/behavior_path_planner_avoidance_design/

[satoshi-ota]

TODO: Write documentation about object filtering policy. @satoshi-ota

[rej55]

LGTM