fix(behavior_path_planner): fix short drivable area bug

[takayuki5168]

Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

Description

Fix the bug where, when using avoidance in behavior path planner, sometimes the drivable area is shorter than expected. (It is expected to draw lanes whose forward length is 50 [m], and backward length is 5 [m])

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[takayuki5168]

I've confirmed that this PR works well with Odaiba and logsim shown in the description.

[codecov]

Codecov Report

Merging #1475 (bc90496) into main (2958bfa) will decrease coverage by 0.09%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1475      +/-   ##
==========================================
- Coverage   10.16%   10.07%   -0.10%     
==========================================
  Files        1135     1135              
  Lines       78693    79498     +805     
  Branches    17886    18506     +620     
==========================================
+ Hits         7998     8007       +9     
- Misses      63077    63815     +738     
- Partials     7618     7676      +58     

Flag	Coverage Δ		*Carryforward flag
differential	0.79% <0.00%> (?)
total	10.14% <0.00%> (ø)		Carriedforward from b61be5a

*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)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...ne_module/lane_following/lane_following_module.cpp	0.00% <0.00%> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/pull_over/pull_over_module.cpp	0.00% <0.00%> (ø)
.../src/scene_module/side_shift/side_shift_module.cpp	0.00% <0.00%> (ø)
.../scene_module/utils/geometric_parallel_parking.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	1.38% <0.00%> (+0.32%)	⬆️
... and 2 more

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[purewater0901]

LGTM