Drivable area from behavior_path oscillate, resulting in unstable path planning.

[takayuki5168]

In autoware.universe, drivable area is generated from behavior_path_planner and used in obstacle_avoidance_planner for path planning.

1. Current drivable area has a issue that drivable area is generated in the ego coordinate,
   meaning that drivable area oscillates since ego pose estimation is noisy,
   resulting in unstable path planning since the road boundary is unstable (oscillates).
   We can make the drivable area coordiate fixed by setting the coordinate to the map coordinate.

2. Drivable area is supposed to see enough area for the ego to follow in a few seconds.
   Previously, ego pose and drivable area pose are the same, so drivable area can see forward area with fixed drivable area size (100m forward, 50m backward).
   However, setting the drivable area coordinate to the map one requires dynamic drivable area size, since ego pose and drivable area pose are not the same and if sending very large drivable area, its topic or calculation cost of drivable area will become higher.