fix(blind_spot): find collision point using sibling straight lanelet boundary

[soblin]

Description

blind_spot module did not work in there are no conflicting lanes on the assigned lane. As a fallback, in that case, use the entry of the intersection lane for collision detection.

before this PR

If there is not conflicting lanelet, blind_spot module does not work properly or does nothing.

PR6599-2024-03-13_12.01.54.mp4

after this PR

blind_spot module works without conflicting lanelet

PR6599-2024-03-13_11.56.18.mp4

Related links

https://tier4.atlassian.net/browse/RT1-5514

https://evaluation.tier4.jp/evaluation/reports/637486ef-6bc2-545c-b6bc-abe0f2285cd8?project_id=prd_jt

Tests performed

for normal left turn without straight branch

for right turn

for opposite vehicle

for same lane vehicle

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 24 lines in your changes are missing coverage. Please review.

Project coverage is 14.80%. Comparing base (efe4e16) to head (9be0da2).
Report is 13 commits behind head on main.

❗ Current head 9be0da2 differs from pull request most recent head f02b48f. Consider uploading reports for the commit f02b48f to get more accurate results

Files	Patch %	Lines
.../behavior_velocity_blind_spot_module/src/scene.cpp	0.00%	24 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6599   +/-   ##
=======================================
  Coverage   14.80%   14.80%           
=======================================
  Files        1915     1915           
  Lines      132241   132227   -14     
  Branches    39318    39309    -9     
=======================================
  Hits        19574    19574           
+ Misses      90835    90821   -14     
  Partials    21832    21832           

Flag	Coverage Δ		*Carryforward flag
differential	13.44% <0.00%> (?)
total	14.80% <ø> (+<0.01%)	⬆️	Carriedforward from efe4e16

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[shmpwk]

LGTM