feat(behavior_path_planner): move lane_following_params to behavior path params

[kosuke55]

Description

move lane_following_params to behavior path common params

this is not just refactor, some parameter values of lane following will be changed,

• lane_change_prepare_duration: 2.0 -> 4.0
• distance_threshold: 5.0 # [m] -> ego_nearest_dist_threshold: 3.0 # [m]
• yaw_threshold: 0.79 # [rad] -> ego_nearest_yaw_threshold: 1.046 # [rad] = 60 [deg]

threshold params is similar to https://github.com/autowarefoundation/autoware.universe/blob/main/planning/static_centerline_optimizer/config/nearest_search.param.yaml, so use it

Related links

autowarefoundation/autoware_launch#302

Tests performed

• psim
• tier4 internal scenario test
  1324/1330 -> 1324/1330

Notes for reviewers

Interface changes

Effects on system behavior

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[satoshi-ota]

Nice work. LGTM.

[codecov]

Codecov Report

Patch coverage: 21.42% and project coverage change: +0.07 🎉

Comparison is base (80385ab) 13.25% compared to head (f9488ac) 13.32%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3445      +/-   ##
==========================================
+ Coverage   13.25%   13.32%   +0.07%     
==========================================
  Files        1384     1385       +1     
  Lines       97018    98090    +1072     
  Branches    28213    28991     +778     
==========================================
+ Hits        12855    13071     +216     
- Misses      70354    71018     +664     
- Partials    13809    14001     +192     

Flag	Coverage Δ		*Carryforward flag
differential	12.41% <21.42%> (?)
total	13.24% <ø> (-0.01%)	⬇️	Carriedforward from 80385ab

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

Impacted Files	Coverage Δ
...anner/include/behavior_path_planner/parameters.hpp	0.00% <ø> (ø)
.../include/behavior_path_planner/planner_manager.hpp	0.00% <ø> (ø)
...ne_module/lane_following/lane_following_module.hpp	100.00% <ø> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	100.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	23.63% <0.00%> (+4.71%)	⬆️
planning/behavior_path_planner/src/utils/utils.cpp	22.58% <0.00%> (+3.02%)	⬆️
...test/test_behavior_path_planner_node_interface.cpp	8.33% <ø> (ø)
...ne_module/lane_following/lane_following_module.cpp	72.22% <60.00%> (+4.65%)	⬆️

... and 7 files with indirect coverage changes

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