feat(lane_departure_checker): support path_with_lane_id

[kosuke55]

Description

make lane_departure_checker to support path_with_lane_id.
This enables behavior_path_planner modules to check lane departure.

Related links

This is the part of #873

Tests performed

check path does not deviate from the lane with psim and real vehicle.

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[codecov]

Codecov Report

Merging #1279 (78e85f8) into main (dccd042) will decrease coverage by 0.00%.
The diff coverage is 15.68%.

@@           Coverage Diff            @@
##            main   #1279      +/-   ##
========================================
- Coverage   9.72%   9.71%   -0.01%     
========================================
  Files       1073    1073              
  Lines      73996   74034      +38     
  Branches   16304   16304              
========================================
  Hits        7195    7195              
- Misses     60214   60252      +38     
  Partials    6587    6587              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.70% <17.77%> (ø)		Carriedforward from dccd042

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

Impacted Files	Coverage Δ
.../lane_departure_checker/lane_departure_checker.hpp	0.00% <ø> (ø)
..._departure_checker_node/lane_departure_checker.cpp	0.00% <0.00%> (ø)
...ctory_follower/include/trajectory_follower/mpc.hpp	46.66% <ø> (ø)
...wer/include/trajectory_follower/mpc_trajectory.hpp	0.00% <ø> (ø)
.../include/behavior_path_planner/debug_utilities.hpp	0.00% <ø> (ø)
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
...r/scene_module/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...nner/scene_module/lane_change/lane_change_path.hpp	0.00% <ø> (ø)
...th_planner/scene_module/pull_out/pull_out_path.hpp	0.00% <ø> (ø)
..._planner/scene_module/pull_over/pull_over_path.hpp	0.00% <ø> (ø)
... and 20 more

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[rej55]

LGTM