fix(behavior_path_planner): fix goal planner backward parking

[kosuke55]

Description

Fix the bug that goal_planner canceled when backward parking.
This bug was caused by #3541

Screencast.from.2023.04.27.14.51.24.webm

Related links

tier4 internal slack
tier4 internal ticket

Tests performed

psim

• backward pull over can be done

backward_parking-2023-05-01_22.12.57.mp4

• the goal can be put before the ego in the previous lane
• can not put in the same lane (this is current planning limitation not just for goal_planner)

backward_parking-2023-05-01_22.15.56.mp4

Notes for reviewers

Interface changes

no

Effects on system behavior

can execute backward pull over

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[codecov]

Codecov Report

Patch coverage: 37.73% and project coverage change: +0.01 🎉

Comparison is base (d99718d) 14.10% compared to head (172f6eb) 14.11%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3601      +/-   ##
==========================================
+ Coverage   14.10%   14.11%   +0.01%     
==========================================
  Files        1397     1397              
  Lines       98212    98264      +52     
  Branches    29209    29238      +29     
==========================================
+ Hits        13852    13873      +21     
- Misses      69603    69614      +11     
- Partials    14757    14777      +20     

Flag	Coverage Δ		*Carryforward flag
differential	12.33% <37.73%> (?)
total	14.10% <ø> (+<0.01%)	⬆️	Carriedforward from d99718d

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

Impacted Files	Coverage Δ
...de/behavior_path_planner/behavior_tree_manager.hpp	0.00% <ø> (ø)
...ner/include/behavior_path_planner/data_manager.hpp	43.75% <ø> (ø)
.../include/behavior_path_planner/planner_manager.hpp	0.00% <ø> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	19.89% <0.00%> (-0.03%)	⬇️
.../scene_module/goal_planner/goal_planner_module.cpp	14.88% <33.33%> (+0.10%)	⬆️
...ehavior_path_planner/src/behavior_tree_manager.cpp	56.56% <38.70%> (-6.67%)	⬇️
planning/behavior_path_planner/src/utils/utils.cpp	18.42% <38.88%> (+0.33%)	⬆️

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