feat(behavior_path_planner): renew lane change collision check functions

[purewater0901]

Description

Currently, the lane change module does not evaluate the collisions with other road participants appropriately, and it sometimes returns wrong judges. In this PR, I fixed the problem by changing the collision check algorithm. The detail of the new collision check is that

1. Judge rear and front vehicle from the lane change path
2. transform coordinates based on the rear vehicle
3. calculate lateral distance and see the distance is safe or not
4. calculate longitudinal distance and see the distance is safe or not

Related links

Tests performed

Scenario Test 1323/1350
TIER4 Internal Link

Notes for reviewers

Interface changes

There are no interface changes.

Effects on system behavior

The result of the collision check of the lane change might be varied depending on the situation.

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[rej55]

LGTM

[codecov]

Codecov Report

Patch coverage: 15.00% and project coverage change: -0.11 ⚠️

Comparison is base (6682ce0) 13.81% compared to head (bc10009) 13.71%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3609      +/-   ##
==========================================
- Coverage   13.81%   13.71%   -0.11%     
==========================================
  Files        1396     1399       +3     
  Lines       97942    98309     +367     
  Branches    29091    29261     +170     
==========================================
- Hits        13535    13487      -48     
- Misses      69785    70257     +472     
+ Partials    14622    14565      -57     

Flag	Coverage Δ		*Carryforward flag
differential	12.85% <15.00%> (?)
total	13.73% <ø> (-0.09%)	⬇️	Carriedforward from 9524ce7

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

Impacted Files	Coverage Δ
...clude/behavior_path_planner/utils/safety_check.hpp	0.00% <ø> (ø)
...avior_path_planner/src/utils/lane_change/utils.cpp	0.81% <0.00%> (ø)
...g/behavior_path_planner/src/utils/safety_check.cpp	0.00% <0.00%> (-5.36%)	⬇️
...st/test_obstacle_cruise_planner_node_interface.cpp	9.09% <ø> (-4.25%)	⬇️
...tor/test/test_scenario_selector_node_interface.cpp	30.76% <ø> (ø)
.../behavior_path_planner/src/turn_signal_decider.cpp	50.73% <92.30%> (+1.76%)	⬆️
...avior_path_planner/test/test_lane_change_utils.cpp	77.77% <100.00%> (ø)

... and 22 files with indirect coverage changes

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