fix(avoidance): fix bug in shift lon distance calculation

[satoshi-ota]

Description

🤖 Generated by Copilot at 4ee3ffd

This pull request modifies the avoidance scene module of the behavior_path_planner package to enhance the obstacle avoidance logic. It changes how the lateral shift profile and the forward detection range are computed for each object, taking into account the avoidance distance and the nominal prepare distance. These changes aim to improve the feasibility, priority, and safety of the avoidance path candidates.

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.

[codecov]

Codecov Report

Attention: 83 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (c7532b8) 15.33%.
Report is 14 commits behind head on main.

Files	Patch %	Lines
.../scene_module/goal_planner/goal_planner_module.cpp	2.50%	39 Missing ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00%	24 Missing ⚠️
.../scene_module/goal_planner/goal_planner_module.hpp	0.00%	15 Missing ⚠️
...rivable_area_expansion/drivable_area_expansion.cpp	40.00%	0 Missing and 3 partials ⚠️
...e/behavior_path_planner/utils/avoidance/helper.hpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5557      +/-   ##
==========================================
+ Coverage   15.32%   15.33%   +0.01%     
==========================================
  Files        1721     1721              
  Lines      118559   118477      -82     
  Branches    37995    37980      -15     
==========================================
+ Hits        18169    18170       +1     
+ Misses      79657    79568      -89     
- Partials    20733    20739       +6     

Flag	Coverage Δ		*Carryforward flag
differential	12.70% <3.48%> (?)
total	15.34% <40.00%> (+0.01%)	⬆️	Carriedforward from 017aed4

*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.