fix(behavior_path_planner): fix cutOverlappedLanes

[kosuke55]

Description

In the cause of the video, lanes and the path are cut with cutOverlappedLanes and the vehicle gets stuck.
The cause of this is that when a lane intersects at even a single point, that lane and path point are removed.
In this PR, lanes with a single point of intersection are kept.

drivable_area_overlap-2023-02-20_12.36.56.mp4

---

NOTES:

After discussion with @purewater0901 @TakaHoribe, it is better to keep lanes that share a linestring too and remove only lanes that completely overlap, but the former requires modifying generateDrivableArea, so it is left removed in this PR.

todo: support generateDrivableArea for lanes sharing a linestring

Related links

Tests performed

psim
tier iv internal scenario test 811/814 ok

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[codecov]

Codecov Report

Base: 11.79% // Head: 11.79% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (bfbce8c) compared to base (ce82f3d).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2916      +/-   ##
==========================================
- Coverage   11.79%   11.79%   -0.01%     
==========================================
  Files        1322     1322              
  Lines       92804    92811       +7     
  Branches    25004    25009       +5     
==========================================
  Hits        10944    10944              
- Misses      70386    70393       +7     
  Partials    11474    11474              

Flag	Coverage Δ		*Carryforward flag
differential	6.16% <0.00%> (?)
total	11.79% <ø> (+<0.01%)	⬆️	Carriedforward from ce82f3d

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

Impacted Files	Coverage Δ
planning/behavior_path_planner/src/utilities.cpp	8.36% <0.00%> (ø)
...ner/include/behavior_path_planner/data_manager.hpp	0.00% <0.00%> (ø)

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[purewater0901]

LGTM