fix(behavior_path_planner): fix invalid access in avoidance module

[tkimura4]

Description

When avoiding near the goal, the avoidance module occasionally dies with the following error when the path length changes

[component_container_mt-28] terminate called after throwing an instance of 'std::out_of_range'
[component_container_mt-28]   what():  vector::_M_range_check: __n (which is 209) >= this->size() (which is 86)
[ERROR] [component_container_mt-28]: process has died [pid 1028191, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container_mt --ros-args -r __node:=behavior_planning_container -r __ns:=/planning/scenario_planning/lane_driving/behavior_planning -p use_sim_time:=False -p wheel_radius:=0.31 -p wheel_width:=0.18 -p wheel_base:=2.75 -p wheel_tread:=1.485 -p front_overhang:=0.8 -p rear_overhang:=0.85 -p left_overhang:=0.105 -p right_overhang:=0.105 -p vehicle_height:=2.5 -p max_steer_angle:=0.65'].

This is because blinker_end_idx can be larger than the size of the path.
(In the case of the image above, the size of path was 158 and blinker_end_idx266 was 266.)

I fixed this by forcing the blinker index to be less than the size of the path

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.20 🎉

Comparison is base (aacd1d2) 14.43% compared to head (9de3c40) 14.64%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4081      +/-   ##
==========================================
+ Coverage   14.43%   14.64%   +0.20%     
==========================================
  Files        1462     1475      +13     
  Lines      102977   106449    +3472     
  Branches    29876    32297    +2421     
==========================================
+ Hits        14864    15585     +721     
- Misses      71879    73848    +1969     
- Partials    16234    17016     +782     

Flag	Coverage Δ		*Carryforward flag
differential	13.64% <0.00%> (?)
total	14.43% <ø> (+<0.01%)	⬆️	Carriedforward from aacd1d2

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

Impacted Files	Coverage Δ
...er/src/scene_module/avoidance/avoidance_module.cpp	9.88% <0.00%> (+5.74%)	⬆️

... and 41 files with indirect coverage changes

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