feat(lane_change): modify lane change target boundary check to consider velocity

[mkquda]

Description

Previously a check was added to ensure the edge of vehicle doesn't exceed target lane boundary during lane change in this PR

But in this recent PR the check was mistakenly removed.

The purpose of this PR is to add the check again and modify the logic to only apply the boundary check if the lane change velocity is greater than the parameterized minimum lane changing velocity.

Related links

None.

How was this PR tested?

• PSIM
• Internal TIER IV evaluator

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

During lane change, if the candidate path causes ego footprint to exceed target lane far boundary, and lc velocity is above minimum, the path will be unsafe and will not be approved.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 3.84615% with 25 lines in your changes missing coverage. Please review.

Project coverage is 28.41%. Comparing base (070e4ee) to head (18addf1).
Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...path_avoidance_by_lane_change_module/src/scene.cpp	0.00%	17 Missing ⚠️
...are_behavior_path_lane_change_module/src/scene.cpp	0.00%	7 Missing ⚠️
...havior_path_lane_change_module/src/utils/utils.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8961      +/-   ##
==========================================
+ Coverage   26.04%   28.41%   +2.37%     
==========================================
  Files        1314     1315       +1     
  Lines       98411    98350      -61     
  Branches    40078    39974     -104     
==========================================
+ Hits        25631    27947    +2316     
- Misses      70092    70346     +254     
+ Partials     2688       57    -2631     

Flag	Coverage Δ		*Carryforward flag
differential	15.27% <3.84%> (?)
total	28.47% <ø> (+2.43%)	⬆️	Carriedforward from 00866c1

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

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[kosuke55]

@mkquda
could you please solve cppcheck-differential? maybe it can be solved by just rebase on main