fix(behavior_velocity_planner): avoid duplicates in intersection module

[maxime-clem]

Signed-off-by: Maxime CLEMENT maxime.clement@tier4.jp

Description

The intersection module of the behavior_velocity_planner outputs very large debug message when crossing multiple intersections. Moreover, the CPU load also greatly increases in that case.

This PR solves this issue by simplifying the detection_area_lanelets calculated by function getObjectiveLanelets().
This variable is used to (1) calculate the lanelet IDs to use for collision detection and (2) calculate the debug polygons to highlight in rviz. Originally, the detection_area_lanelets was a vector of sequences of lanelets where the sequences could overlap, sharing many common lanelets. This would result in many duplicated IDs (1) and many overlapping polygons (2).
In this PR, the detection_area_lanelets is changed to be a vector of lanelets without any duplicate, which simplifies both (1) and (2) without changing the behavior of the module.

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[codecov]

Codecov Report

Merging #1483 (1704a7c) into main (05f6a6b) will decrease coverage by 0.13%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1483      +/-   ##
==========================================
- Coverage   10.36%   10.23%   -0.14%     
==========================================
  Files        1135     1118      -17     
  Lines       79574    78025    -1549     
  Branches    18534    18171     -363     
==========================================
- Hits         8251     7982     -269     
+ Misses      63122    62530     -592     
+ Partials     8201     7513     -688     

Flag	Coverage Δ		*Carryforward flag
differential	4.61% <0.00%> (?)
total	10.25% <0.00%> (-0.10%)	⬇️	Carriedforward from 6e44bfa

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

Impacted Files	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)
...ule/intersection/scene_merge_from_private_road.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)
...wer/include/trajectory_follower/mpc_trajectory.hpp	0.00% <0.00%> (-50.00%)	⬇️
...odel/vehicle_model_bicycle_kinematics_no_delay.cpp	73.91% <0.00%> (-17.40%)	⬇️
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	73.58% <0.00%> (-9.44%)	⬇️
.../motion_velocity_smoother/src/trajectory_utils.cpp	0.00% <0.00%> (-2.74%)	⬇️
...planning_evaluator/src/planning_evaluator_node.cpp	37.11% <0.00%> (-1.04%)	⬇️
... and 142 more

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[TakaHoribe]

@maxime-clem Thank you! I asked @taikitanaka3 to review this PR.

[taikitanaka3]

LGTM
I checked with lanelets with loop

I checked with right of way

[soblin]

using set for checking duplicate lanelet looks good !