fix(behavior_velocity_planner): keep intersection module for lanes with same parent and same direction

[soblin]

Description

Additional fix for following PRs. I restricted the condition for keeping the existing intersection module to check if the turn_direction is identical.

Related links

• feat(behavior_path_planner): enable lane change in intersection #2720
• fix(behavior_velocity_planner): clean up expired intersection/merge_from_private/traffic_light #2790

Tests performed

Checked by changing the left-turn route by placing a checkpoint.

Before this change

After changing the path from a left-turn route to straight one, the intersection module for left-turn lane was still running.

After this change

The intersection module for left-turn lane is not running, and the one for straight lane is running instead.

Notes for reviewers

• We may need a mechanism to reset the planning module when the route is changed externally.
• For merge_from_private module, LC is not considered
• intersection module needs additional change for generating stop line position based on the path, not a specific lane
  • the stop position for traffic light module looks OK:

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[codecov]

Codecov Report

Base: 11.70% // Head: 11.70% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (3caf9ee) compared to base (b850b25).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2874      +/-   ##
==========================================
- Coverage   11.70%   11.70%   -0.01%     
==========================================
  Files        1314     1314              
  Lines       91624    91632       +8     
  Branches    24489    24496       +7     
==========================================
  Hits        10726    10726              
- Misses      69710    69718       +8     
  Partials    11188    11188              

Flag	Coverage Δ		*Carryforward flag
differential	4.00% <0.00%> (?)
total	11.70% <ø> (+<0.01%)	⬆️	Carriedforward from b850b25

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

Impacted Files	Coverage Δ
...path_planner/src/scene_module/lane_change/util.cpp	0.00% <ø> (ø)
...nner/include/scene_module/intersection/manager.hpp	0.00% <ø> (ø)
..._planner/src/scene_module/intersection/manager.cpp	0.00% <0.00%> (ø)

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[rej55]

LGTM

[purewater0901]

LGTM