fix(goal_planner): support following lanes over the next lane

[kosuke55]

Description

Can not plan pull over path following lanes over next lanes because use only one next lane of current lanes for reference path.
In this PR extend current lanes by goal search length

goal_planner_goal_search-2023-07-04_20.31.25.mp4

Related links

need #4166

Tests performed

tie4_interl_sceneario_test
https://evaluation.tier4.jp/evaluation/reports/8d967fb3-de5c-5844-9a08-865792cc1c79?project_id=prd_jt
1575/1579

base line 1572/1579(2023/07/03)

psim

goal_planner_goal_search-2023-07-04_21.25.56.mp4

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch coverage: 15.55% and no project coverage change.

Comparison is base (01bf2c6) 14.30% compared to head (b291167) 14.30%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4167   +/-   ##
=======================================
  Coverage   14.30%   14.30%           
=======================================
  Files        1571     1571           
  Lines      108348   108376   +28     
  Branches    31362    31371    +9     
=======================================
+ Hits        15497    15503    +6     
- Misses      76001    76021   +20     
- Partials    16850    16852    +2     

Flag	Coverage Δ		*Carryforward flag
differential	13.49% <15.55%> (?)
total	14.30% <ø> (+<0.01%)	⬆️	Carriedforward from 01bf2c6

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

Impacted Files	Coverage Δ
...ject_tracker/src/tracker/model/bicycle_tracker.cpp	0.00% <ø> (ø)
..._tracker/src/tracker/model/big_vehicle_tracker.cpp	0.00% <ø> (ø)
...acker/src/tracker/model/normal_vehicle_tracker.cpp	0.00% <ø> (ø)
...ic_parallel_parking/geometric_parallel_parking.hpp	20.00% <ø> (ø)
...nner/include/behavior_path_planner/utils/utils.hpp	45.45% <ø> (ø)
.../scene_module/goal_planner/goal_planner_module.cpp	5.96% <0.00%> (-0.03%)	⬇️
...cene_module/start_planner/start_planner_module.cpp	4.23% <ø> (ø)
...ic_parallel_parking/geometric_parallel_parking.cpp	0.00% <0.00%> (ø)
...ner/src/utils/goal_planner/geometric_pull_over.cpp	21.73% <0.00%> (ø)
...h_planner/src/utils/goal_planner/goal_searcher.cpp	2.27% <0.00%> (ø)
... and 2 more

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