fix(behavior_path_planner): fix execution request condition

[rej55]

Description

Before this change, the stop point is inserted by lane change module if the lane change is required.
However, the section to lane change is too short, it is not able to insert stop point because the lane change module does not run.

To fix this problem, I changed to run lane change module if the ego vehicle is not in preferred lane.

Related links

Tests performed

Tested in planning simulator.

TIER IV INTERNAL TEST

Notes for reviewers

Interface changes

Nothing.

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Patch coverage: 33.33% and project coverage change: +0.03 🎉

Comparison is base (4001ee6) 14.20% compared to head (5b68926) 14.24%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4197      +/-   ##
==========================================
+ Coverage   14.20%   14.24%   +0.03%     
==========================================
  Files        1594     1594              
  Lines      109844   111565    +1721     
  Branches    31569    32863    +1294     
==========================================
+ Hits        15604    15888     +284     
- Misses      77292    78466    +1174     
- Partials    16948    17211     +263     

Flag	Coverage Δ		*Carryforward flag
differential	13.67% <33.33%> (?)
total	14.20% <ø> (+<0.01%)	⬆️	Carriedforward from 4001ee6

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

Impacted Files	Coverage Δ
...planner/src/scene_module/lane_change/interface.cpp	5.06% <0.00%> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	4.02% <50.00%> (-0.87%)	⬇️

... and 9 files with indirect coverage changes

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