fix(behavior_path_planner_common): drivable are bug

[shmpwk]

Description

Refactor of #6527.

Before:

After:

The details are as follows: https://tier4.atlassian.net/browse/RT1-5061

Tests performed

No scenario degration: 3106/3107

Effects on system behavior

Not applicable.

Interface changes

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[codecov]

Codecov Report

Attention: Patch coverage is 58.33333% with 5 lines in your changes missing coverage. Please review.

Project coverage is 24.14%. Comparing base (3e4a945) to head (4cf5a3b).
Report is 428 commits behind head on main.

Files with missing lines	Patch %	Lines
...nclude/tier4_planning_rviz_plugin/path/display.hpp	0.00%	3 Missing ⚠️
...ware_behavior_path_planner/src/planner_manager.cpp	50.00%	1 Missing ⚠️
...s/drivable_area_expansion/static_drivable_area.cpp	85.71%	0 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #7182      +/-   ##
==========================================
- Coverage   24.16%   24.14%   -0.03%     
==========================================
  Files        1401     1407       +6     
  Lines      102254   103237     +983     
  Branches    38750    38752       +2     
==========================================
+ Hits        24707    24922     +215     
- Misses      74972    75741     +769     
+ Partials     2575     2574       -1     

Flag	Coverage Δ		*Carryforward flag
differential	15.02% <58.33%> (?)
total	24.16% <ø> (-0.01%)	⬇️	Carriedforward from 3e4a945

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[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[mitsudome-r]

@shmpwk This has been stale for a long time. Could you check if you still need this PR?