fix(lane_change): orientation check when constructing path

[zulfaqar-azmi-t4]

Description

solve this issueTIER IV internal JIRA link

When start planner performing geometric pull out, it requires time to transition to recovery steering angle. Therefore ego needs to stop during this recovery perios.
However, due to ego is currently in the current lane of lane change, it caused lane change to be activated, and the start planner path and ego vehicle path is combined.

Lane change path uses previous path output as the preparation path, and also compute new lane changing path. As the result of this combination, start planner couldn't perform the recovery steering, due to the discontinuity of the path caused by the combination of start planner path and lane change path.

To avoid this issue, when computing lane change path, the continuity of the path if computed based on the angle of ego. If there is 5 degree differences, lane change will discard the lane changing path, and lane change path will not be generated.

Related links

Tests performed

Evaluator check TIER IV internal link

Notes for reviewers

Interface changes

Effects on system behavior

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[codecov]

Codecov Report

Attention: 4 lines in your changes are missing coverage. Please review.

Comparison is base (bd4b5ca) 14.36% compared to head (3043812) 14.36%.
Report is 31 commits behind head on main.

Files	Patch %	Lines
...havior_path_lane_change_module/src/utils/utils.cpp	0.00%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6339      +/-   ##
==========================================
- Coverage   14.36%   14.36%   -0.01%     
==========================================
  Files        1907     1907              
  Lines      130136   130140       +4     
  Branches    37640    37642       +2     
==========================================
  Hits        18697    18697              
- Misses      90430    90434       +4     
  Partials    21009    21009              

Flag	Coverage Δ		*Carryforward flag
differential	8.75% <0.00%> (?)
total	14.36% <ø> (ø)		Carriedforward from bd4b5ca

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[kosuke55]

LGTM!