Revert "fix(no_stopping_area): fix stopping in front of a no stopping area in parking on the shoulder (autowarefoundation#6517)"

This reverts commit 144b9c7.

Author: kaigohirao

planning/behavior_velocity_no_stopping_area_module/src/scene_no_stopping_area.cpp

@@ -317,7 +317,9 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
     }
     ++ego_area_start_idx;
   }
-
+  if (ego_area_start_idx > num_ignore_nearest) {
+    ego_area_start_idx--;
+  }
   if (!is_in_area) {
     return ego_area;
   }
@@ -329,11 +331,6 @@ Polygon2d NoStoppingAreaModule::generateEgoNoStoppingAreaLanePolygon(
     const auto & p = pp.at(i).point.pose.position;
     if (!bg::within(Point2d{p.x, p.y}, lanelet::utils::to2D(no_stopping_area).basicPolygon())) {
       dist_from_area_sum += tier4_autoware_utils::calcDistance2d(pp.at(i), pp.at(i - 1));
-
-      // do not take extra distance and exit as soon as p is outside no stopping area
-      // just a temporary fix
-      ego_area_end_idx = i - 1;
-      break;
     }
     if (dist_from_start_sum > extra_dist || dist_from_area_sum > margin) {
       break;