fix(behavior_path_planner): fix lane change path validation

[rej55]

Description

Before change, it often occurs chattering lane changing due to lane departure check with vehicle footprint.

To solve this problem, I change the lane departure checking logic.
In this change, it checks that path points are in any lanes.

Furthermore, I made a change to clip path at the goal.

Related links

Tests performed

Tested in planning simulator.

Before

Screencast.from.2022.12.01.14.39.28.webm

After

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[codecov]

Codecov Report

Base: 10.46% // Head: 10.39% // Decreases project coverage by -0.07% ⚠️

Coverage data is based on head (007135e) compared to base (a790489).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2421      +/-   ##
==========================================
- Coverage   10.46%   10.39%   -0.08%     
==========================================
  Files        1248     1248              
  Lines       91330    92117     +787     
  Branches    21037    21551     +514     
==========================================
+ Hits         9561     9571      +10     
- Misses      71580    72318     +738     
- Partials    10189    10228      +39     

Flag	Coverage Δ		*Carryforward flag
differential	3.17% <0.00%> (?)
total	10.44% <0.00%> (ø)		Carriedforward from a790489

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

Impacted Files	Coverage Δ
...er/scene_module/lane_change/lane_change_module.hpp	0.00% <ø> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...path_planner/src/scene_module/lane_change/util.cpp	0.00% <0.00%> (ø)
planning/behavior_path_planner/src/utilities.cpp	3.30% <0.00%> (-0.36%)	⬇️
...ne_optimizer/src/collision_free_optimizer_node.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/pull_over/pull_over_module.cpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.36% <0.00%> (+0.17%)	⬆️

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[kosuke55]

thanks very much, looks good!