feat(goal_planner): align vehicle center to be parallel to lane boundary (#1335)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml

@@ -68,7 +68,7 @@
           maximum_lateral_jerk: 2.0
           minimum_lateral_jerk: 0.5
           deceleration_interval: 15.0
-          after_shift_straight_distance: 1.0
+          after_shift_straight_distance: 1.5
 
         # parallel parking path
         parallel_parking: