feat(lane_change): check lateral offset at lc finish judgement

[satoshi-ota]

Description

Current implementation, lane change module checks only traveling distance to judge the lane change maneuver is finished.

In this PR, I add lateral offset condition to the judgement. The module judges lc is finished only when the lateral offset between the ego and target lane is less than finish_judge_lateral_threshold (default: 0.2 [m]).

This PR must be merged after ⬇️
autowarefoundation/autoware_launch#375

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (4856894) 14.08% compared to head (7556444) 14.08%.

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #3861    +/-   ##
========================================
  Coverage   14.08%   14.08%            
========================================
  Files        1441     1441            
  Lines      101722   101847   +125     
  Branches    27086    27179    +93     
========================================
+ Hits        14330    14350    +20     
- Misses      71701    71790    +89     
- Partials    15691    15707    +16     

Flag	Coverage Δ		*Carryforward flag
differential	13.18% <0.00%> (?)
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
...nner/utils/lane_change/lane_change_module_data.hpp	50.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	18.96% <0.00%> (-0.05%)	⬇️
...th_planner/src/scene_module/lane_change/normal.cpp	3.95% <0.00%> (-0.04%)	⬇️

... and 2 files with indirect coverage changes

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[rej55]

LGTM