fix(utils): fix bug in drivable area expansion (autowarefoundation#5198)

* fix(avoidance): fix invalid drivable area bound

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* refactor(avoidance): split huge process to three functions

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* fix(utils): improve sharp bound remove logic

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/behavior_path_planner/include/behavior_path_planner/utils/utils.hpp

@@ -231,6 +231,15 @@ std::vector<geometry_msgs::msg::Point> calcBound(
   const bool enable_expanding_hatched_road_markings, const bool enable_expanding_intersection_areas,
   const bool is_left);
 
+std::vector<lanelet::ConstPoint3d> getBoundWithHatchedRoadMarkings(
+  const std::vector<lanelet::ConstPoint3d> & original_bound,
+  const std::shared_ptr<RouteHandler> & route_handler);
+
+std::vector<lanelet::ConstPoint3d> getBoundWithIntersectionAreas(
+  const std::vector<lanelet::ConstPoint3d> & original_bound,
+  const std::shared_ptr<RouteHandler> & route_handler,
+  const std::vector<DrivableLanes> & drivable_lanes, const bool is_left);
+
 boost::optional<size_t> getOverlappedLaneletId(const std::vector<DrivableLanes> & lanes);
 std::vector<DrivableLanes> cutOverlappedLanes(
   PathWithLaneId & path, const std::vector<DrivableLanes> & lanes);