fix(behavior_path_planner): fix left/right split of the drivable area

[maxime-clem]

Description

This PR fixes an issue when splitting the dynamically expanded drivable area. The issue happens when calculating the left and right bounds from the expanded polygon.
A function calculates the ranges of polygon points that will make the left and right bounds by selecting the start/end points of each bound. In this function, we check whether points are to the left or right of the path. This check was causing the issue and was improved.

Tests performed

Evaluation (TIER IV INTERNAL LINK): https://evaluation.tier4.jp/evaluation/reports/4443b361-435f-5689-8766-23f5f6314348?project_id=x2_dev
Psim

Effects on system behavior

Prevents some issue where the left and right bounds of the dynamically expanded drivable area would be wrong.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch coverage: 18.18% and no project coverage change.

Comparison is base (39e5999) 15.12% compared to head (bf51f63) 15.12%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4738   +/-   ##
=======================================
  Coverage   15.12%   15.12%           
=======================================
  Files        1573     1573           
  Lines      108415   108418    +3     
  Branches    33306    33308    +2     
=======================================
+ Hits        16395    16399    +4     
+ Misses      74148    74147    -1     
  Partials    17872    17872           

Flag	Coverage Δ		*Carryforward flag
differential	13.05% <18.18%> (?)
total	15.12% <ø> (+<0.01%)	⬆️	Carriedforward from 39e5999

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

Files Changed	Coverage Δ
...otion_utils/marker/virtual_wall_marker_creator.hpp	50.00% <ø> (ø)
common/motion_utils/src/marker/marker_helper.cpp	55.00% <ø> (ø)
...n_utils/src/marker/virtual_wall_marker_creator.cpp	81.08% <ø> (ø)
...stance_calculator/src/path_distance_calculator.cpp	0.00% <ø> (ø)
control/mpc_lateral_controller/src/mpc.cpp	46.73% <ø> (ø)
...path_planner/test/test_drivable_area_expansion.cpp	30.61% <0.00%> (-0.32%)	⬇️
...rivable_area_expansion/drivable_area_expansion.cpp	40.00% <25.00%> (+2.41%)	⬆️

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.