fix(behavior_path_planner): fix bad dynamic drivable area expansion at path extremities

[maxime-clem]

Description

This PR improves the dynamic drivable area expansion, making the bounds look cleaner, especially at the at the start and end of the path.

Before	After

Tests performed

Psim
Evaluator: https://evaluation.tier4.jp/evaluation/reports/tables/new?project_id=x2_dev&job_id=727d6936-d9ae-5829-98ec-a0f489b09ba9&catalog_id=6888286a-35b1-4121-b322-0c6f0e3d8868&filter=&table_config=date

Effects on system behavior

This should not impact the system behavior

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[codecov]

Codecov Report

Patch coverage: 27.35% and no project coverage change.

Comparison is base (8ff2128) 14.82% compared to head (10cd778) 14.82%.
Report is 4 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4259   +/-   ##
=======================================
  Coverage   14.82%   14.82%           
=======================================
  Files        1531     1531           
  Lines      105756   105814   +58     
  Branches    32145    32190   +45     
=======================================
+ Hits        15676    15689   +13     
- Misses      72961    72984   +23     
- Partials    17119    17141   +22     

Flag	Coverage Δ		*Carryforward flag
differential	13.11% <27.35%> (?)
total	14.80% <ø> (-0.02%)	⬇️	Carriedforward from 8ff2128

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

Files Changed	Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp	7.93% <0.00%> (-0.40%)	⬇️
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...ath_planner/src/scene_module/avoidance/manager.cpp	6.86% <0.00%> (-0.22%)	⬇️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	6.56% <0.00%> (ø)
...path_planner/test/test_drivable_area_expansion.cpp	32.74% <0.00%> (-0.39%)	⬇️
.../scenario_selector_node/scenario_selector_node.cpp	46.04% <ø> (-0.39%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	12.17% <9.09%> (+0.08%)	⬆️
...rivable_area_expansion/drivable_area_expansion.cpp	36.93% <29.68%> (-13.07%)	⬇️
...er/src/utils/drivable_area_expansion/expansion.cpp	34.67% <52.94%> (+2.56%)	⬆️
...r/src/utils/drivable_area_expansion/footprints.cpp	37.50% <100.00%> (ø)
... and 1 more

... and 1 file with indirect coverage changes

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[TakaHoribe]

I'm in review

[TakaHoribe]

I confirmed it works as expected.

especially at the at the start and end of the path.

Before:

After: