feat(obstacle_cruise_planner): add terminal collision checker

[purewater0901]

Description

Currently, obstacle cruise planner does not check the collision with obstacles at the end of the trajectory. In this PR, I extended the goal to enable it to check the collision even when it almost arrives at the goal.

Related links

Tests performed

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[purewater0901]

tier4/autoware_launch#471

[purewater0901]

Open this PR after this PR gets approval form the reviewer.

[codecov]

Codecov Report

Merging #1807 (adcc87f) into main (d428887) will decrease coverage by 0.11%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1807      +/-   ##
==========================================
- Coverage   10.47%   10.36%   -0.12%     
==========================================
  Files        1218     1218              
  Lines       87462    87783     +321     
  Branches    20525    20793     +268     
==========================================
- Hits         9165     9099      -66     
- Misses      68825    69484     +659     
+ Partials     9472     9200     -272     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.38% <0.00%> (-0.08%)	⬇️	Carriedforward from d9cd466

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

Impacted Files	Coverage Δ
...e_planner/include/obstacle_cruise_planner/node.hpp	0.00% <ø> (ø)
planning/obstacle_cruise_planner/src/node.cpp	0.00% <0.00%> (ø)
.../obstacle_cruise_planner/src/planner_interface.cpp	0.00% <0.00%> (ø)
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	73.58% <0.00%> (-9.44%)	⬇️
control/trajectory_follower/src/interpolate.cpp	73.33% <0.00%> (-2.23%)	⬇️
...trajectory_follower/src/mpc_lateral_controller.cpp	34.31% <0.00%> (-1.31%)	⬇️
control/trajectory_follower/test/test_mpc.cpp	55.68% <0.00%> (-1.14%)	⬇️
...ctory_follower/src/pid_longitudinal_controller.cpp	38.49% <0.00%> (-1.12%)	⬇️
...tion_utils/test/src/trajectory/test_trajectory.cpp	25.62% <0.00%> (-0.64%)	⬇️
control/trajectory_follower/src/mpc.cpp	48.01% <0.00%> (-0.12%)	⬇️
... and 100 more

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[takayuki5168]

LGTM