feat(avoidance): check traffic light info in order to limit drivable area

[satoshi-ota]

Description

Previously, avoidance module always expanded drivable area as much as possible. However, sometimes it blocked vehicle on opposite lane when the ego was waiting for red traffic light. In this situation, the ego basically should NOT straddle lane bound if there is possibility to stop by traffic signal.

After this PR, the module limits drivable lanes expansion and generates avoidance path within current lane when the ego is going to stop at stop line by traffic signal.

  const auto update_left_lanelets = [&](const lanelet::ConstLanelet & target_lane) {
    const auto next_lanes = route_handler->getNextLanelets(target_lane);
    const auto is_stop_signal = utils::traffic_light::isTrafficSignalStop(next_lanes, planner_data);
    if (is_stop_signal && !in_avoidance_maneuver) {
      return;
    }
    const auto all_left_lanelets = route_handler->getAllLeftSharedLinestringLanelets(
      target_lane, parameters->use_opposite_lane, true);
    if (!all_left_lanelets.empty()) {
      current_drivable_lanes.left_lane = all_left_lanelets.back();  // leftmost lanelet
      pushUniqueVector(
        current_drivable_lanes.middle_lanes,
        lanelet::ConstLanelets(all_left_lanelets.begin(), all_left_lanelets.end() - 1));
    }
  };

NOTE: expansion of the drivable area ONLY the lanelet in front of the intersection.

Tests performed

NOTE: When traffic siganl is GREEN signal, the module uses right/left lane in order to avoid objects.

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Improve avoidance behavior.

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[kyoichi-sugahara]

LGTM!