fix(autoware_map_based_prediction): adjust lateral duration when object is behind reference path

[technolojin]

Description

The previous update of the map_based_prediction had multiple function changes of path generation algorithms.
One of them was searchProperStartingRefPathIndex, which finds a proper reference path position to generate natural path.

In case of the lateral_duration was too short to reach the reference path point, the path tend to be generated unnaturally.

Planning simulator (PSIM)
condition: simulated car with speed of 1.5 m/s. (which makes the fixed lateral_duration short to reach the reference path point.

Before

After

Related links

#8602
#8811

How was this PR tested?

Tested in PSIM

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[YoshiRi]

make sense, LGTM

[codecov]

Codecov Report

Attention: Patch coverage is 0% with 7 lines in your changes missing coverage. Please review.

Project coverage is 28.40%. Comparing base (9fd0dae) to head (f16a4e6).
Report is 22 commits behind head on main.

Files with missing lines	Patch %	Lines
...toware_map_based_prediction/src/path_generator.cpp	0.00%	7 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8973      +/-   ##
==========================================
- Coverage   28.48%   28.40%   -0.09%     
==========================================
  Files        1314     1316       +2     
  Lines       98292    98338      +46     
  Branches    39995    39969      -26     
==========================================
- Hits        27999    27929      -70     
- Misses      70228    70344     +116     
  Partials       65       65              

Flag	Coverage Δ		*Carryforward flag
differential	1.82% <0.00%> (?)
total	28.44% <ø> (-0.04%)	⬇️	Carriedforward from 9fd0dae

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