fix(behavior_path_planner): avoidance drivable area in intersection

[zulfaqar-azmi-t4]

Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

Description

Due to the effects of #1688, the drivable area is not extended in the following case

This PR aims to fix the bug

Related links

#1702

Tests performed

In psim, place the object in the location after intersection with two lanes. Drivable area should be expanded.

Test 1

2022-08-26-17-26-35.mp4

Test 2

2022-08-26-17-27-28.mp4

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[taikitanaka3]

LGTM

[codecov]

Codecov Report

Merging #1707 (9b5aa2c) into main (2712884) will decrease coverage by 0.04%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1707      +/-   ##
==========================================
- Coverage   10.05%   10.01%   -0.05%     
==========================================
  Files        1197     1197              
  Lines       86337    86703     +366     
  Branches    19867    20162     +295     
==========================================
+ Hits         8685     8686       +1     
- Misses      68447    68788     +341     
- Partials     9205     9229      +24     

Flag	Coverage Δ		*Carryforward flag
differential	0.79% <0.00%> (?)
total	10.04% <0.00%> (ø)		Carriedforward from 0a64c03

*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)
...or_path_planner/src/behavior_path_planner_node.cpp	0.35% <0.00%> (+0.12%)	⬆️

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