feat(behavior_path_planner): curvature based drivable area expansion

[maxime-clem]

Description

Replace the polygon-based dynamic drivable area expansion with a curvature-based algorithm.

Related links

Tests performed

Psim.
Evaluation platform (TIER IV INTERNAL LINK).

Notes for reviewers

Launch PR: autowarefoundation/autoware_launch#632

Interface changes

Parameters for this feature were changed.
See the documentation for the details.

Effects on system behavior

Drivable area expansion should be more stable, less computationally expensive, and less prone to bugs.

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[takayuki5168]

Working well with a bus. LGTM.

[codecov]

Codecov Report

Attention: 139 lines in your changes are missing coverage. Please review.

Comparison is base (5725c2d) 14.80% compared to head (aec72f9) 14.81%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #5294   +/-   ##
=======================================
  Coverage   14.80%   14.81%           
=======================================
  Files        1665     1665           
  Lines      115286   115242   -44     
  Branches    35600    35580   -20     
=======================================
+ Hits        17068    17071    +3     
+ Misses      78958    78948   -10     
+ Partials    19260    19223   -37     

Flag	Coverage Δ		*Carryforward flag
differential	12.27% <39.30%> (?)
total	14.76% <ø> (-0.04%)	⬇️	Carriedforward from 5d6449d

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

Files	Coverage Δ
...ner/include/behavior_path_planner/data_manager.hpp	50.00% <ø> (ø)
planning/behavior_path_planner/src/utils/utils.cpp	13.63% <0.00%> (+0.06%)	⬆️
.../utils/drivable_area_expansion/path_projection.hpp	69.23% <75.00%> (+0.13%)	⬆️
...r/src/utils/drivable_area_expansion/footprints.cpp	26.31% <16.66%> (-11.19%)	⬇️
...er/src/utils/drivable_area_expansion/map_utils.cpp	36.36% <37.50%> (+14.14%)	⬆️
...anner/utils/drivable_area_expansion/parameters.hpp	12.12% <11.11%> (-7.33%)	⬇️
...or_path_planner/src/behavior_path_planner_node.cpp	27.45% <0.00%> (ø)
...path_planner/test/test_drivable_area_expansion.cpp	34.01% <32.14%> (+3.24%)	⬆️
...rivable_area_expansion/drivable_area_expansion.cpp	45.39% <44.02%> (+9.39%)	⬆️

... and 2 files with indirect coverage changes

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