feat(behavior_path_planner): update expansion function for drivable area

[purewater0901]

Description

Currently, the expansion function for drivable area is not correct. It expands lanelets that are not necessary to do so. For example, it expands the middle lanelet, and also expand left boundary line of the rightmost lanelet of the road. In this PR, I created a new data type called Drivable Lanes to put lanes in the right order(from the begging to the end). It also enables users to store the rightmost lanelet and leftmost lanelet.

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Tests performed

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[purewater0901]

Internal Test Result
822/825

[takayuki5168]

LGTM

[codecov]

Codecov Report

Base: 10.48% // Head: 10.38% // Decreases project coverage by -0.10% ⚠️

Coverage data is based on head (4cad3eb) compared to base (3c0b335).
Patch coverage: 4.18% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2320      +/-   ##
==========================================
- Coverage   10.48%   10.38%   -0.11%     
==========================================
  Files        1249     1250       +1     
  Lines       90888    91927    +1039     
  Branches    20860    21569     +709     
==========================================
+ Hits         9531     9548      +17     
- Misses      71229    72163     +934     
- Partials    10128    10216      +88     

Flag	Coverage Δ		*Carryforward flag
differential	3.23% <4.16%> (?)
total	10.46% <2.72%> (ø)		Carriedforward from 3c0b335

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

Impacted Files	Coverage Δ
...ner/include/behavior_path_planner/data_manager.hpp	0.00% <0.00%> (ø)
..._planner/scene_module/pull_out/pull_out_module.hpp	0.00% <ø> (ø)
...lanner/scene_module/pull_over/pull_over_module.hpp	0.00% <ø> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	26.31% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...path_planner/src/scene_module/lane_change/util.cpp	0.00% <0.00%> (ø)
...ne_module/lane_following/lane_following_module.cpp	0.00% <0.00%> (ø)
...r/src/scene_module/pull_out/geometric_pull_out.cpp	0.00% <0.00%> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp	0.00% <0.00%> (ø)
... and 17 more

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