Add Road Detection for Multi-Lane Navigation

[Bonifatius94]

Issue:

• the current logic for detecting which roads a given position belongs to works fine for straight roads
• but, for long, curved roads (like highways) it's very often failing
• also, the current solution only draws rectangles between the start / end point of a road and completely ignores the geometries
• moreover, there's only a detection concerning the direction, but not the exact lane (which is crucial for multi-lane navigation)

Tasks:

• implement a more sophisticated polygon for modeling the road sections (= geometries)
• extend the detection such that the actual lane can be determined, not only the side of road

Goals:

• determine the road and lane for arbitrary car spawn positions / navigation destinations
• especially focus on handling long, curved roads like highways correctly

[Bonifatius94]

Status for PAF meeting 10-03-2022: feature seems to work quite nicely (there might be some flaws remaining which we can live with for now)