feat(behavior_path_planner): add guard for minimum lane changing velocity

[purewater0901]

Description

Since users can set minimum_lane_changing_velocity to any desired values, it can cause some potential issues. In the current lane change module, it does not allow the ego vehicle to accelerate while performing lane change. However, if the minimum_lane_changing_velocity becomes larger than it can reach on the prepare section, it needs to accelerate during the lane change phase. In this PR, I set a guard for the maximum value for the parameter as

minimum_lane_changing_velocity = min(parameter.minimum_lane_changing_velocity, a_{acc} * t_{prepare})

Tests performed

TIER IV Internal Link
Scenario Result 1328/1330

Effects on system behavior

When the user sets large values for the minimum lane changing velocity, this change will prevent it from having large values.

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[codecov]

Codecov Report

Patch coverage: 12.50% and project coverage change: -0.83 ⚠️

Comparison is base (ea7bcbe) 14.97% compared to head (50f659a) 14.14%.

❗ Current head 50f659a differs from pull request most recent head 251eb7c. Consider uploading reports for the commit 251eb7c to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3545      +/-   ##
==========================================
- Coverage   14.97%   14.14%   -0.83%     
==========================================
  Files        1301     1413     +112     
  Lines       92043    98943    +6900     
  Branches    29044    29585     +541     
==========================================
+ Hits        13782    13996     +214     
- Misses      63586    70128    +6542     
- Partials    14675    14819     +144     

Flag	Coverage Δ		*Carryforward flag
differential	15.43% <12.50%> (?)
total	14.08% <ø> (-0.89%)	⬇️	Carriedforward from 8825b96

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

Impacted Files	Coverage Δ
...nner/utils/lane_change/lane_change_module_data.hpp	0.00% <ø> (ø)
...lanner/src/scene_module/avoidance_by_lc/module.cpp	0.00% <0.00%> (ø)
...planner/src/scene_module/lane_change/bt_normal.cpp	13.95% <0.00%> (-0.34%)	⬇️
...avior_path_planner/src/utils/lane_change/utils.cpp	0.69% <0.00%> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	6.00% <16.66%> (+0.31%)	⬆️
...or_path_planner/src/behavior_path_planner_node.cpp	19.79% <33.33%> (+0.13%)	⬆️

... and 124 files with indirect coverage changes

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