feat(behavior_path_planner): enable delay lane change when necessary

[purewater0901]

Description

The current lane change module performs lane change even though it has an object on the target lanes. In this PR, I created a new safety check module that enables the lane change to deactivate when it has enough space to do lane change after the target lane.

Launch PR

An illustrative example is shown in the following picture.

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

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[codecov]

Codecov Report

Patch coverage: 4.70% and project coverage change: -0.01 ⚠️

Comparison is base (7b6bff2) 14.37% compared to head (64ffb36) 14.36%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3991      +/-   ##
==========================================
- Coverage   14.37%   14.36%   -0.01%     
==========================================
  Files        1566     1566              
  Lines      107726   107778      +52     
  Branches    31175    31204      +29     
==========================================
  Hits        15482    15482              
- Misses      75420    75464      +44     
- Partials    16824    16832       +8     

Flag	Coverage Δ		*Carryforward flag
differential	13.59% <4.76%> (?)
total	14.36% <0.00%> (-0.01%)	⬇️	Carriedforward from 7b6b083

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

Impacted Files	Coverage Δ
...th_planner/scene_module/lane_change/base_class.hpp	16.27% <ø> (-0.39%)	⬇️
...r_path_planner/scene_module/lane_change/normal.hpp	0.00% <ø> (-50.00%)	⬇️
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...nner/utils/lane_change/lane_change_module_data.hpp	50.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	18.37% <0.00%> (-0.08%)	⬇️
...path_planner/src/marker_util/lane_change/debug.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	11.68% <0.00%> (ø)
...ath_planner/src/scene_module/avoidance/manager.cpp	14.28% <0.00%> (ø)
...ehavior_path_planner/src/utils/avoidance/utils.cpp	5.81% <0.00%> (ø)
...avior_path_planner/src/utils/lane_change/utils.cpp	0.40% <0.00%> (-0.04%)	⬇️
... and 4 more

... and 1 file with indirect coverage changes

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