feat(avoidance): use same root adjacent lane boundary for avoidable margin calculation

[satoshi-ota]

Description

Add option to get same root (=previous lanelet) right/left lanelet from current lanelet.

Tests performed

Before this PR. It is NOT possible to get right lanelet from turn left lanelet. As a result, the ego can't avoid object because of the avoidable bounds.

Avoidable area bounds (pink bold line) is expanded correctly.

• PASS TIER IV INTERNAL SCENARIOS
• TEST with real vehicle

Effects on system behavior

Improve avoidance maneuver.

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[codecov]

Codecov Report

Patch coverage: 14.89% and project coverage change: -0.01 ⚠️

Comparison is base (4856894) 14.08% compared to head (a03a106) 14.08%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3860      +/-   ##
==========================================
- Coverage   14.08%   14.08%   -0.01%     
==========================================
  Files        1441     1441              
  Lines      101722   101748      +26     
  Branches    27086    27106      +20     
==========================================
  Hits        14330    14330              
- Misses      71701    71723      +22     
- Partials    15691    15695       +4     

Flag	Coverage Δ		*Carryforward flag
differential	11.13% <14.89%> (?)
total	14.08% <ø> (-0.01%)	⬇️	Carriedforward from 4856894

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

Impacted Files	Coverage Δ
...ehavior_path_planner/src/utils/avoidance/utils.cpp	3.48% <0.00%> (ø)
planning/route_handler/src/route_handler.cpp	24.47% <15.90%> (-0.77%)	⬇️

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[rej55]

LGTM