feat(dynamic_avoidance): accurate decision of front vehicle to avoid

[takayuki5168]

Description

The front vehicle decision whether to avoid or not is wrong sometimes as shown in the following figure.
This PR fixed the issue by calculating how much ratio the object covers the ego's path.

before
The dynamic avoidance module tries to avoid the front vehicle unexpectedly.

after

Tests performed

psim

Effects on system behavior

accurate front vehicle decision for dynamic avoidance

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[codecov]

Codecov Report

Attention: 1370 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (0ca9f9f) 12.52%.
Report is 70 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	0.65%	150 Missing and 2 partials ⚠️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00%	54 Missing ⚠️
...cene_module/start_planner/start_planner_module.cpp	7.01%	53 Missing ⚠️
planning/behavior_path_planner/src/utils/utils.cpp	35.89%	31 Missing and 19 partials ⚠️
...er/src/scene_module/avoidance/avoidance_module.cpp	2.27%	41 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	13.63%	15 Missing and 4 partials ⚠️
.../utils/goal_planner/default_fixed_goal_planner.cpp	0.00%	19 Missing ⚠️
... and 14 more

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5679       +/-   ##
===========================================
- Coverage   15.32%   12.52%    -2.80%     
===========================================
  Files        1721      107     -1614     
  Lines      118559    15100   -103459     
  Branches    37995     8458    -29537     
===========================================
- Hits        18169     1892    -16277     
+ Misses      79657    10246    -69411     
+ Partials    20733     2962    -17771     

Flag	Coverage Δ
differential	12.52% <10.63%> (?)
total	?

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