feat(goal_planner): use vehicle side edge to check isCrossingPossible for pull over execution

[kosuke55]

Description

Get the lanelet of the ego vehicle's side edge at the terminal pose of the previous module's path. Check if the lane is the target lane or the neighboring lane. NOTE: This is because in the case of avoidance, there is a possibility of base_link entering the neighboring lane, and we want to activate the pull over at this time as well.

before (stuck without pull over)

after

lc_avoid_goal-2024-10-17_15.43.04.mp4

Related links

Parent Issue:

• Link

How was this PR tested?

• psim
• https://evaluation.tier4.jp/evaluation/reports/66da7d1c-3b0e-51ed-b4c7-244c905dcade?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 6 lines in your changes missing coverage. Please review.

Project coverage is 27.53%. Comparing base (6ff2121) to head (857afd6).
Report is 13 commits behind head on main.

Files with missing lines	Patch %	Lines
...th_goal_planner_module/src/goal_planner_module.cpp	0.00%	6 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9102      +/-   ##
==========================================
- Coverage   27.55%   27.53%   -0.02%     
==========================================
  Files        1304     1307       +3     
  Lines      101047   101054       +7     
  Branches    39236    39216      -20     
==========================================
- Hits        27843    27829      -14     
- Misses      70580    70594      +14     
- Partials     2624     2631       +7     

Flag	Coverage Δ		*Carryforward flag
differential	1.24% <0.00%> (?)
total	27.55% <ø> (+<0.01%)	⬆️	Carriedforward from 6ff2121

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