refactor(behavior_path_planner): use perception utils for interpolation

[purewater0901]

Description

Using perception utils for functions in utilities of the behavior path planner

Related links

Tests performed

Tier4 Scenario Test 1198/1199
Internal Link

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.83 ⚠️

Comparison is base (37f67f5) 13.21% compared to head (2197a99) 12.39%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3255      +/-   ##
==========================================
- Coverage   13.21%   12.39%   -0.83%     
==========================================
  Files        1263     1363     +100     
  Lines       89337    95139    +5802     
  Branches    27079    26993      -86     
==========================================
- Hits        11809    11793      -16     
- Misses      65104    70989    +5885     
+ Partials    12424    12357      -67     

Flag	Coverage Δ		*Carryforward flag
differential	5.54% <0.00%> (?)
total	12.40% <ø> (-0.82%)	⬇️	Carriedforward from e5cb317

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

Impacted Files	Coverage Δ
...lanner/include/behavior_path_planner/utilities.hpp	83.33% <ø> (+59.52%)	⬆️
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
...ehavior_path_planner/src/util/lane_change/util.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	7.85% <0.00%> (+0.28%)	⬆️

... and 105 files with indirect coverage changes

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