feat(behavior_path_planner): remove redundant process

[rej55]

Description

Before this change, redundant safety check is included in lane change module.
In this PR, I remove redundant safety check.

Related links

Tests performed

Tested in planning simulator.

TIER IV INTERNAL TEST

1 cycle elapsed time (3 obstacles)

• Before 75 ~ 90 ms
• After 20 ~ 35 ms

Notes for reviewers

Interface changes

Nothing.

Effects on system behavior

Nothing.

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[codecov]

Codecov Report

Patch coverage: 28.57% and no project coverage change.

Comparison is base (a3c6ea2) 14.36% compared to head (fc6ec33) 14.36%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4077   +/-   ##
=======================================
  Coverage   14.36%   14.36%           
=======================================
  Files        1566     1566           
  Lines      107727   107730    +3     
  Branches    31176    31175    -1     
=======================================
+ Hits        15478    15480    +2     
- Misses      75421    75422    +1     
  Partials    16828    16828           

Flag	Coverage Δ		*Carryforward flag
differential	13.64% <28.57%> (?)
total	14.36% <ø> (-0.01%)	⬇️	Carriedforward from a3c6ea2

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

Impacted Files	Coverage Δ
...th_planner/scene_module/lane_change/base_class.hpp	16.27% <ø> (-0.39%)	⬇️
...r_path_planner/scene_module/lane_change/normal.hpp	0.00% <ø> (ø)
...path_planner/src/marker_util/lane_change/debug.cpp	0.00% <0.00%> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	4.89% <33.33%> (+0.49%)	⬆️
...planner/src/scene_module/lane_change/interface.cpp	5.36% <50.00%> (-0.19%)	⬇️

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