feat(pull_out): support pull out normal lane

[kosuke55]

Description

• pull out from the road lane not just road_shoulder
• always execute pull out when a new route is received and ego-vehicle is stopped.
• disable the blinker if the lateral shift offset is smaller than th_blinker_on_lateral_offset: 1.0

red arrow: pull out start point
yellow arrow: pull out end point

Related links

Tests performed

psim
tier4 internal scenario test 1339/1372

(baseline
https://evaluation.tier4.jp/evaluation/reports/90dcdc1b-b5b3-58d8-85ad-0c28654b65a0?project_id=prd_jt
1330/1372)

new archi
https://evaluation.tier4.jp/evaluation/reports/a62d2285-9947-57fa-b673-7dd30854accc?project_id=prd_jt
1302/1372
not degrated

Notes for reviewers

Interface changes

not applicable

Effects on system behavior

not applicable

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[codecov]

Codecov Report

Patch coverage: 19.04% and project coverage change: +0.07 🎉

Comparison is base (1e8b9d5) 14.11% compared to head (b10920b) 14.19%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3805      +/-   ##
==========================================
+ Coverage   14.11%   14.19%   +0.07%     
==========================================
  Files        1444     1444              
  Lines      101841   102291     +450     
  Branches    27151    27527     +376     
==========================================
+ Hits        14378    14519     +141     
- Misses      71711    71818     +107     
- Partials    15752    15954     +202     

Flag	Coverage Δ		*Carryforward flag
differential	13.23% <19.04%> (?)
total	14.12% <ø> (+<0.01%)	⬆️	Carriedforward from 1e8b9d5

*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	37.50% <ø> (ø)
..._planner/scene_module/pull_out/pull_out_module.hpp	50.00% <0.00%> (-16.67%)	⬇️
...ath_planner/utils/pull_out/pull_out_parameters.hpp	0.00% <ø> (ø)
...vior_path_planner/utils/pull_out/pull_out_path.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	24.69% <0.00%> (+5.73%)	⬆️
...path_planner/src/utils/pull_out/shift_pull_out.cpp	3.44% <0.00%> (-0.16%)	⬇️
...nner/src/scene_module/pull_out/pull_out_module.cpp	5.94% <22.58%> (+2.22%)	⬆️
.../behavior_path_planner/src/utils/pull_out/util.cpp	11.42% <33.33%> (+0.31%)	⬆️

... and 2 files with indirect coverage changes

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[rej55]

LGTM

[kosuke55]

rename start_planner in #3908