feat(lane_change): add checks to ensure the edge of vehicle do not exceed target lane boundary when changing lanes

[mkquda]

Description

Currently, LC path does not guarantee that ego vehicle is within target lane boundaries at all times during LC maneuver. Specifically for larger vehicles (such as bus or trucks), it is more likely that the vehicle frame exceeds the target lane boundary into the next lane during the maneuver, which can result in an unsafe interaction with other vehicles on the road.

This PR adds a safety check for LC candidate path to ensure ego footprint maintains a safe distance from the target lane far boundary for all path points.

If a candidate path does not satisfy the condition it will still be added as a valid path, but will not be considered a safe path.

Related links

autoware_launch PR

How was this PR tested?

PSIM.

Notes for reviewers

None.

Interface changes

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	enable_target_lane_bound_check	bool	true	Flag to enable / disable target lane boundary check

Effects on system behavior

LC candidates path that result in ego foot print exceeding target lane far boundary will be considered unsafe.

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[codecov]

Codecov Report

Attention: Patch coverage is 8.69565% with 21 lines in your changes missing coverage. Please review.

Project coverage is 27.98%. Comparing base (edb4179) to head (507a958).
Report is 23 commits behind head on main.

Files with missing lines	Patch %	Lines
...havior_path_lane_change_module/src/utils/utils.cpp	0.00%	17 Missing ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	0.00%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8750      +/-   ##
==========================================
- Coverage   27.99%   27.98%   -0.02%     
==========================================
  Files        1319     1320       +1     
  Lines       98732    98784      +52     
  Branches    39797    39812      +15     
==========================================
+ Hits        27642    27646       +4     
- Misses      71047    71094      +47     
- Partials       43       44       +1     

Flag	Coverage Δ		*Carryforward flag
differential	15.56% <8.69%> (?)
total	27.99% <ø> (ø)		Carriedforward from edb4179

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