Wrong Drivable Area might be created for behavior path planner

[taikitanaka3]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

• cv::fillpoly sometimes does not cover area where there is an overlapping polygon
  

  autoware.universe/planning/behavior_path_planner/src/utilities.cpp

  Line 1161 in 791fd51

  cv::fillPoly(cv_image, cv_polygons, cv::Scalar(free_space));

see ref)
taikitanaka3/cpp_snippets#1

Expected behavior

fill poly can fill the area which has overlapping area

Actual behavior

However sometimes cv::fillpoly can't cover overlapping area

Steps to reproduce

tbd.

Versions

No response

Possible causes

No response

Additional context

No response

[taikitanaka3]

I am going to close this issue because this case is already handled in avoidance module