refactor(lane_change): refactor getLaneChangePaths function

[mkquda]

Description

The function getLaneChangePaths in LC module is the main part of LC code and is responsible for sampling different candidate paths and verifying the validity and safety of the candidate path. However the function is very big and complex, which makes it difficult to understand and modify.

This PR aims to refactor the getLaneChangePaths function to improve code readability and granularity and reduce its complexity.

Changes

• Add struct PhaseMetrics to group relevant measurements (duration, length, velocity, lon. acc, lat. acc) for LC phases
• Add function calc_prepare_phase_metrics to compute and return a list of sampled prepare phase metrics
• Add function calc_shift_phase_metrics to compute and return a list of sampled lane changing phase metrics
• Remove the necessity of computing target segment, and use reference path from target lane directly instead
• Add function getCandidatePath to process LC info and construct the cadidate path
• Add function checkCandidatePathSafety to verify LC candidate path

Flowchart of getLaneChangePaths function after refactoring

Related links

None.

How was this PR tested?

1. Build complete
2. PSIM
3. Internal TIER IV evaluator

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov[bot]]

Codecov Report

Attention: Patch coverage is 0.48309% with 206 lines in your changes missing coverage. Please review.

Project coverage is 28.45%. Comparing base (d25e9a1) to head (e89ef23). Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
...are_behavior_path_lane_change_module/src/scene.cpp	0.00%	116 Missing :warning:
..._path_lane_change_module/src/utils/calculation.cpp	0.00%	55 Missing :warning:
...ior_path_lane_change_module/utils/data_structs.hpp	5.55%	17 Missing :warning:
...nning/autoware_route_handler/src/route_handler.cpp	0.00%	11 Missing :warning:
...havior_path_lane_change_module/src/utils/utils.cpp	0.00%	7 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #8909 +/- ## ========================================== - Coverage 28.47% 28.45% -0.02% ========================================== Files 1314 1318 +4 Lines 98279 98318 +39 Branches 39961 39969 +8 ========================================== - Hits 27985 27980 -5 - Misses 70166 70209 +43 - Partials 128 129 +1 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/8909/flags?src=pr&el=flags&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | Coverage Δ | | *Carryforward flag | |---|---|---|---| | [differential](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/8909/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `28.04% <0.48%> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/8909/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `28.52% <ø> (+0.05%)` | :arrow_up: | Carriedforward from [fa5a5fe](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/fa5a5fef90a399fdfc648c074b463d67941cd655?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | *This pull request uses carry forward flags. [Click here](https://docs.codecov.io/docs/carryforward-flags?utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) to find out more.

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[github-actions[bot]]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8909/ Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-8909/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/