fix(avoidance): prevent sudden steering at avoidance maneuver

[satoshi-ota]

Description

🤖 Generated by Copilot at 3807905

Prevent sudden steering when approaching a shift line in the avoidance module. Add a condition to canYieldManeuver in avoidance_module.cpp to check the distance to the shift line start point.

Please review following PR at first:
autowarefoundation/autoware_launch#690

---

Add new parameter min_prepare_time.
The module doesn't generate shift path whose start point is closer than ego_speed * min_prepare_time meter.

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Attention: 78 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (7657be1) 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 ⚠️
.../scene_module/goal_planner/goal_planner_module.hpp	0.00%	15 Missing ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00%	13 Missing and 2 partials ⚠️
...ath_planner/src/scene_module/avoidance/manager.cpp	0.00%	0 Missing and 4 partials ⚠️
...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    #5572      +/-   ##
==========================================
+ Coverage   15.32%   15.33%   +0.01%     
==========================================
  Files        1721     1721              
  Lines      118559   118500      -59     
  Branches    37995    37991       -4     
==========================================
+ Hits        18169    18173       +4     
+ Misses      79657    79586      -71     
- Partials    20733    20741       +8     

Flag	Coverage Δ		*Carryforward flag
differential	12.69% <3.70%> (?)
total	15.34% <40.00%> (+0.01%)	⬆️	Carriedforward from 017aed4

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

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