fix(lane_change): cap ego's predicted path velocity (RT1-8505)

[zulfaqar-azmi-t4]

Description

the current ego predicted path velocity doesn’t have any maximum limit put into it.

However, it should have limit, since for each lane change path, there is prepare velocity and lane changing velocity assigned to it.

With the current computation, the velocity might exceed prepare velocity and lane changing velocity.

Before

The polygon is longer.

After

The size of the polygon is reduced.

Related links

Parent Issue:

• Link

How was this PR tested?

1. PSIM
2. Internal evaluator TIER IV Internal link

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 29.51%. Comparing base (996336f) to head (cac877c). Report is 1 commits behind head on main.

Additional details and impacted files

```diff @@ Coverage Diff @@ ## main #9341 +/- ## ========================================== + Coverage 29.50% 29.51% +0.01% ========================================== Files 1441 1443 +2 Lines 108596 108614 +18 Branches 41502 41501 -1 ========================================== + Hits 32038 32058 +20 + Misses 73438 73436 -2 Partials 3120 3120 ``` | [Flag](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9341/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/9341/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `22.10% <100.00%> (?)` | | | | [total](https://app.codecov.io/gh/autowarefoundation/autoware.universe/pull/9341/flags?src=pr&el=flag&utm_medium=referral&utm_source=github&utm_content=comment&utm_campaign=pr+comments&utm_term=autowarefoundation) | `29.51% <ø> (+<0.01%)` | :arrow_up: | Carriedforward from [996336f](https://app.codecov.io/gh/autowarefoundation/autoware.universe/commit/996336fc51a3df332e7fc0466c56aaee4cc875f7?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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