fix(behavior_path_planner): remove min max shift limit

[zulfaqar-azmi-t4]

The shift limit generates improper shift that caused the maximum shift to be improper.
Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

Description

Previously, the code is tested mainly on Cars.

The maximum shift point limit (based on the min/max of the online computedmax_shift_length and parameterized value) was imposed to avoid a large shift during avoidance.

However, it actually introduces a bug since to avoid long object types (e.g., bus, truck, trailers), sometimes, large shift is needed.

For example, if the necessary shift length to avoid bus is shift_length = 3.5 and the current max_shift_length=2.5, the shift length will be limited to 2.5. Therefore, it creates a path that collides with long objects such as buses, trucks, or trailers, as follows

In the first place, the maximum shift point limit is unnecessary. Therefore to solve this issue, this PR removes the limitation check. It will not change very much of the current avoidance module behavior. The following is the result after the changes.

Related links

#833
#934
#1041

Tests performed

Use psim to test the conditions.
You can set either lateral_collision_safety_margin: 0.0 or lateral_collision_margin: 0.0 while testing.

Notes for reviewers

This should solve #833 originally. However, #1041 is needed as it will complements with the future upgrades of the shift length computation.

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[codecov]

Codecov Report

Merging #1055 (2b5c9ee) into main (b377841) will decrease coverage by 0.07%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1055      +/-   ##
========================================
- Coverage   9.32%   9.25%   -0.08%     
========================================
  Files        988     988              
  Lines      66698   67230     +532     
  Branches   11589   11589              
========================================
  Hits        6221    6221              
- Misses     55302   55834     +532     
  Partials    5175    5175              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.30% <0.00%> (ø)		Carriedforward from b377841

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

Impacted Files	Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)

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[taikitanaka3]

LGTM