feat(behavior_path_planner): consider object velocity direction

[takayuki5168]

Description

With the following PR, the vehicle object velocity direction will not be the same as the vehicle object orientation since the velocity center is not the rear wheel center but CoM.
#4637

This PR considers the vehicle object velocity direction in a planning package.

Tests performed

Unit test

Effects on system behavior

Nothing

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[codecov]

Codecov Report

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

Comparison is base (5ed7ca3) 14.88% compared to head (0d81c72) 14.87%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4652      +/-   ##
==========================================
- Coverage   14.88%   14.87%   -0.01%     
==========================================
  Files        1548     1548              
  Lines      106786   106798      +12     
  Branches    32682    32684       +2     
==========================================
  Hits        15891    15891              
- Misses      73587    73599      +12     
  Partials    17308    17308              

Flag	Coverage Δ		*Carryforward flag
differential	13.23% <0.00%> (?)
total	14.88% <ø> (+<0.01%)	⬆️	Carriedforward from 5ed7ca3

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

Files Changed	Coverage Δ
...ule/dynamic_avoidance/dynamic_avoidance_module.cpp	0.00% <0.00%> (ø)
...planner/src/scene_module/lane_change/interface.cpp	6.32% <0.00%> (-0.03%)	⬇️
...th_planner/src/scene_module/lane_change/normal.cpp	4.01% <0.00%> (-0.02%)	⬇️
...ehavior_path_planner/src/utils/avoidance/utils.cpp	9.42% <0.00%> (-0.02%)	⬇️
...avior_path_planner/src/utils/lane_change/utils.cpp	0.43% <0.00%> (-0.01%)	⬇️
...tacle_stop_planner/src/adaptive_cruise_control.cpp	1.54% <ø> (+0.01%)	⬆️

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[rej55]

LGTM

[kyoichi-sugahara]

LGTM