fix(lane_change): consider max velocity during path planning

[zulfaqar-azmi-t4]

Description

Lane change max velocity computation currently doesn't consider the parameterized input from common.max_vel. The result is that it causes the prepare path to be much longer than anticipated, plus, the results also affects the safety check, where the expected velocity is different from the actual velocity, which causes many safety check issues.

This PR aims to solve this by including the max_vel parameter

Before PR

Prepare path is long, plus safety check is difficult to be approved.

cap-.2024-03-14-16-28-56.mp4

After PR

Safety check is much simpler to be approved.

cap-.2024-03-14-16-30-28.mp4

Related links

Tests performed

TBA

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None

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[shmpwk]

LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 4 lines in your changes are missing coverage. Please review.

Project coverage is 14.79%. Comparing base (3ba1ecd) to head (bf60e12).
Report is 5 commits behind head on main.

Files	Patch %	Lines
...ing/behavior_path_lane_change_module/src/scene.cpp	0.00%	3 Missing ⚠️
...or_path_planner/src/behavior_path_planner_node.cpp	0.00%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6615      +/-   ##
==========================================
- Coverage   14.79%   14.79%   -0.01%     
==========================================
  Files        1920     1920              
  Lines      132358   132359       +1     
  Branches    39338    39344       +6     
==========================================
  Hits        19579    19579              
+ Misses      90940    90939       -1     
- Partials    21839    21841       +2     

Flag	Coverage Δ		*Carryforward flag
differential	10.76% <0.00%> (?)
total	14.79% <ø> (+<0.01%)	⬆️	Carriedforward from 3ba1ecd

*This pull request uses carry forward flags. Click here to find out more.

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