feat(dyanmic_avoidance): deal with oncoming forked predicted path

[takayuki5168]

Description

The current dynamic avoidance module cannot deal with the oncoming object's path well where the object's path is forked from the ego's path.
This PR fixed the issue by calculating the distance between the object's path and ego's path.

before
The left side of the drivable area around the ego is modified unexpectedly.

after

Tests performed

psim

Effects on system behavior

Better handling of the oncoming object's path in dynamic avoidance

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[codecov]

Codecov Report

Attention: 1321 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (31a90b6) 12.55%.
Report is 64 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	0.66%	148 Missing and 2 partials ⚠️
...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 ⚠️
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00%	33 Missing ⚠️
...ing/behavior_path_planner/src/utils/path_utils.cpp	42.30%	0 Missing and 30 partials ⚠️
.../scene_module/goal_planner/goal_planner_module.hpp	9.52%	15 Missing and 4 partials ⚠️
...th_planner/src/scene_module/lane_change/normal.cpp	0.00%	18 Missing ⚠️
... and 12 more

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5678       +/-   ##
===========================================
- Coverage   15.32%   12.55%    -2.77%     
===========================================
  Files        1721      107     -1614     
  Lines      118559    15058   -103501     
  Branches    37995     8432    -29563     
===========================================
- Hits        18169     1891    -16278     
+ Misses      79657    10212    -69445     
+ Partials    20733     2955    -17778     

Flag	Coverage Δ
differential	12.55% <10.92%> (?)
total	?

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