feat(lane_change): enable cancel when ego in turn direction lane main (RT0-33893)

[zulfaqar-azmi-t4]

Description

When performing a lane change after an intersection, nearby vehicle might attempt to overtake the ego vehicle. Although simulations may suggest the maneuver is safe, real world testing shows it can feel unsafe. This is particularly true in intersections, where surrounding vehicle often exhibits significant speed variations and unpredictable behavior.

The image below illustrates such a scenario.

In this situation, rear vehicle may either stop abruptly or accelerate suddenly, making it challenging for the safety check to produce reliable result.

This PR addresses the issue by making the lane change module adopt a more conservative approach near intersection.

If the ego vehicle is within an intersection and currently in a turn lane, the lane change module will output an invalid path.

Additionally, if the ego vehicle has just exited the turn lane of an intersection and its distance from the intersection is within the backward_length_from_intersection, the lane change will also be marked as invalid.

The module also monitors objects behind the ego vehicle. If their highest-confidence predicted path overlaps with the target lanes, the lane change path will be cancelled.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

Interface changes

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