fix(behavior_path_planner): drivable area extended while avoidance

[zulfaqar-azmi-t4]

Description

The drivable area is not well expanded if only considering the obstacle's direction.
This is because, if the obstacle direction is lost, the drivable area will lost, and it will cause the ego vehicle to suddenly reduces its speed.

This PR aims to solve this by expanding the drivable area with respect to current lane, instead of object direction. This reduces the complexity and ensures the drivable area to be expanded as long as avoidance module is on.

Before this PR (Drivable area not included after the obstacle)

With this PR

2022-08-25-17-39-19.mp4

Related links

#1544

Tests performed

Use PSIM and test avoidance module. It is recommended that the lanelet has opposite direction.

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[taikitanaka3]

I checked

1. nominal case
   https://user-images.githubusercontent.com/65527974/186623107-9e1293bb-947a-4c23-8637-2ad7d7a4945f.mp4
2. shared line string
   https://user-images.githubusercontent.com/65527974/186623583-e319727e-919c-4091-88dd-a97485524dc1.mp4
3. not avoidable（Note : this bug was rare case and happned only once so keep searching this for another PR if happened next time）
   

[planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner.LaneFollowing]: behavior module has failed with exception: vector::_M_range_check: __n (which is 0) >= this->size() (which is 0)

[codecov]

Codecov Report

Merging #1688 (0520de8) into main (fcf1302) will decrease coverage by 0.07%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1688      +/-   ##
==========================================
- Coverage   10.72%   10.64%   -0.08%     
==========================================
  Files        1103     1103              
  Lines       78416    78987     +571     
  Branches    18648    19052     +404     
==========================================
+ Hits         8409     8410       +1     
- Misses      61093    61604     +511     
- Partials     8914     8973      +59     

Flag	Coverage Δ		*Carryforward flag
differential	0.79% <0.00%> (?)
total	10.70% <0.00%> (ø)		Carriedforward from fcf1302

*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)
planning/behavior_path_planner/src/utilities.cpp	0.85% <0.00%> (-0.20%)	⬇️
...or_path_planner/src/behavior_path_planner_node.cpp	0.35% <0.00%> (+0.12%)	⬆️

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[taikitanaka3]

LGTM