fix(behavior_path_planner): fix check intersection for lane change

[zulfaqar-azmi-t4]

Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

Description

Currently the checkLaneIsInIntersection function doesn't consider the distance to the goal.
This might cause an issue since in certain part of the lanelet, it might cause too early stop.

This PR aim to rework the function.

Related links

https://tier4.atlassian.net/browse/T4PB-20147

Tests performed

1. Odaiba map is needed. It need to be obtained from here.
2. Place ego starting point and end point to the location similar to the one in Jira Ticket.

2022-09-13-14-54-37.mp4

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[codecov]

Codecov Report

Merging #1851 (a596477) into main (f13cdcb) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1851      +/-   ##
==========================================
- Coverage   10.45%   10.42%   -0.04%     
==========================================
  Files        1221     1221              
  Lines       87620    87899     +279     
  Branches    20420    20586     +166     
==========================================
  Hits         9165     9165              
- Misses      68978    69250     +272     
- Partials     9477     9484       +7     

Flag	Coverage Δ		*Carryforward flag
differential	1.27% <0.00%> (?)
total	10.44% <0.00%> (ø)		Carriedforward from f13cdcb

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

Impacted Files	Coverage Δ
...lanner/include/behavior_path_planner/utilities.hpp	25.00% <ø> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...ne_module/lane_following/lane_following_module.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	2.71% <0.00%> (-0.49%)	⬇️

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[yukkysaito]

LGTM
@rej55 Pls double check

[rej55]

LGTM