feat(start_planner): add option for lane departure

[kosuke55]

Description

add option for lane departure

this PR deal with the issue that the path from the current pose is out of lane so backward driving unnaturally

Related links

Tests performed

psim

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (f6e1e36) 14.30% compared to head (45f0ef0) 14.30%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4151      +/-   ##
==========================================
- Coverage   14.30%   14.30%   -0.01%     
==========================================
  Files        1571     1571              
  Lines      108342   108345       +3     
  Branches    31359    31361       +2     
==========================================
  Hits        15497    15497              
- Misses      75997    75999       +2     
- Partials    16848    16849       +1     

Flag	Coverage Δ		*Carryforward flag
differential	13.47% <0.00%> (?)
total	14.30% <ø> (+<0.01%)	⬆️	Carriedforward from f6e1e36

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

Impacted Files	Coverage Δ
...r/utils/start_planner/start_planner_parameters.hpp	0.00% <ø> (ø)
...planner/src/scene_module/start_planner/manager.cpp	13.33% <0.00%> (-0.46%)	⬇️
...planner/src/utils/start_planner/shift_pull_out.cpp	2.91% <0.00%> (-0.05%)	⬇️
.../src/fault_injection_node/fault_injection_node.cpp	36.53% <ø> (+0.68%)	⬆️

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