fix(avoidance): fix margin param inconsistency

[satoshi-ota]

Description

The avoidance module has two type lateral hard margin params:

1. lateral hard margin for parked vehicle
2. lateral hard margin for othther objects

Basically, it should choose proper one based on the data "if it's parked vehicle" but there are bugs that only latter param is used. This may cause wrong stop distance calculation.

double AvoidanceModule::calcDistanceToStopLine(const ObjectData & object) const
{
  const auto & p = parameters_;
  const auto & vehicle_width = planner_data_->parameters.vehicle_width;
...
  const auto object_type = utils::getHighestProbLabel(object.object.classification);
  const auto object_parameter = parameters_->object_parameters.at(object_type);

  const auto avoid_margin = object_parameter.lateral_hard_margin * object.distance_factor +
                            object_parameter.lateral_soft_margin + 0.5 * vehicle_width;
  const auto avoidance_distance = helper_->getMinAvoidanceDistance(
    helper_->getShiftLength(object, utils::avoidance::isOnRight(object), avoid_margin));
  const auto constant_distance = helper_->getFrontConstantDistance(object);
  return object.longitudinal -
         std::min(
           avoidance_distance + constant_distance + p->min_prepare_distance + p->stop_buffer,
           p->stop_max_distance);
}

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Bug fix.

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[zulfaqar-azmi-t4]

LGTM!
Can Ota-san help to update the Readme to reflect the latest changes?

[satoshi-ota]

@zulfaqar-azmi-t4 Thank you!

LGTM! Can Ota-san help to update the Readme to reflect the latest changes?

Sorry for the unsafficient module documentations... 🙏 Now I update module specifications frequently so I put off updating documention until later. But I'll start it asap because some specifications are fixed and actually I have to complete docs by the end of June.