fix(avoidance): improve avoidance safety check logic

[satoshi-ota]

Description

This PR includes following two commits:

1. don't exclude stopped object from safety check target unless it's a parked vehicle. d7b1589

Sometimes, the avoidance module couldn't react for vehicle on adjacent lane when the traffic signal changed RED to GREEN because it only checked moving objects. But there is a possibility that the stopped vehicle begins to move unless it's a parked vehicle.

simplescreenrecorder-2024-04-30_09.58.29.mp4

2. fix inconsistency between shift line generation and validation. 26521be

Sometimes, the avoidance module created unexpected avoidance path whose start point was closer than minimum prepare distance it must keep at least. And, using minimum prepare distance parameter in shift line generation logic caused this issue due to calculation error of post process (e.g. actual:0.9997 but threshold:1.0). In my thought, the parameter must be used only in validation logic. Hence, I created a funciton to validate shift line and use minimum prepare distance parameter only in it.

Tests performed

Effects on system behavior

Nothing.

Interface changes

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[shmpwk]

The code looks good to me.