fix(lane_change): use current lane for num to preferred lane input

[zulfaqar-azmi-t4]

Description

This PR aims to fix triple lane change issue. To standardize some computations, the current available functions are also refactored.

Before PR

cap-.2023-01-06-13-01-02.mp4.mp4

After PR

temp-branch-check-.2023-01-06-12-04-37.mp4.mp4

Related links

Tests performed

Perform triple lane changes scenario .

Notes for reviewers

The following parameters in lane_change.param.yaml need to be modified as follows

backward_length_buffer_for_end_of_lane > lane_change_finish_judge_buffer + 1

backward_length_buffer_for_end_of_lane: 3.0
lane_change_finish_judge_buffer: 2.0      # [m]

Rationale

For lane change change more than 1, because lane changing module have to be complete in order for the second lane change to start. And lane change completion depends on finish judge buffer.

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[codecov]

Codecov Report

Base: 11.48% // Head: 11.42% // Decreases project coverage by -0.05% ⚠️

Coverage data is based on head (935f93c) compared to base (7247041).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2615      +/-   ##
==========================================
- Coverage   11.48%   11.42%   -0.06%     
==========================================
  Files        1271     1272       +1     
  Lines       88503    88909     +406     
  Branches    23320    23625     +305     
==========================================
+ Hits        10161    10162       +1     
- Misses      67572    67951     +379     
- Partials    10770    10796      +26     

Flag	Coverage Δ		*Carryforward flag
differential	5.13% <0.00%> (?)
total	11.48% <0.00%> (ø)		Carriedforward from 7247041

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ene_module/lane_change/lane_change_module_data.hpp	0.00% <0.00%> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.26% <0.00%> (+0.08%)	⬆️
...path_planner/src/scene_module/lane_change/util.cpp	0.00% <0.00%> (ø)

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[TakaHoribe]

@zulfaqar-azmi-t4 I suggest having a check if these parameters meet the condition. If not, it'd be better to modify the parameter automatically with some warnings.

The following parameters in lane_change.param.yaml need to be modified as follows

backward_length_buffer_for_end_of_lane > lane_change_finish_judge_buffer + 1

[zulfaqar-azmi-t4]

@TakaHoribe
Thank you very much for the review.
The changes is reflected in 935f93c

[TakaHoribe]

All comments are addressed. LGTM.