fix(lane_change): use previous output

[satoshi-ota]

Description

add new lane change utils function to generate prepare segment from previous module output.

PathWithLaneId getLaneChangePathPrepareSegment(
  const PathWithLaneId & original_path, const lanelet::ConstLanelets & original_lanelets,
  const Pose & current_pose, const double backward_path_length, const double prepare_distance,
  const double prepare_speed);

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (0056a2a) 11.94% compared to head (9acc03c) 11.93%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3059      +/-   ##
==========================================
- Coverage   11.94%   11.93%   -0.01%     
==========================================
  Files        1326     1326              
  Lines       92209    92219      +10     
  Branches    24649    24654       +5     
==========================================
  Hits        11010    11010              
- Misses      69785    69795      +10     
  Partials    11414    11414              

Flag	Coverage Δ		*Carryforward flag
differential	5.54% <0.00%> (?)
total	11.94% <ø> (+<0.01%)	⬆️	Carriedforward from 0056a2a

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

Impacted Files	Coverage Δ
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <ø> (ø)
...ehavior_path_planner/src/util/lane_change/util.cpp	0.00% <0.00%> (ø)

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[zulfaqar-azmi-t4]

Checked and there's no issue.
LGTM