[Dense-Urban-ODD] dynamic_obstacle_avoidance can only avoid 0.5 m or less

[beyzanurkaya]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

The current implementation of dynamic obstacle avoidance can only handle obstacles within a 0.5-meter. Obstacles beyond this threshold are not avoided, and the EGO vehicle stops even though it has space to avoid the lane. This issue may stem from limitations in lateral avoidance calculations.

Purpose

To enhance the obstacle avoidance implementation by increasing the avoidance offset, ensuring that the EGO vehicle can navigate around more obstacles.

Possible approaches

• Find limitation in lateral offset calculation for current avoidance.
• Improve lateral offset implementation.

Definition of done

The dynamic obstacle avoidance system is tested and verified to avoid obstacles larger than 0.5 meters.