feat(intersection): additional fix for LC and Avoidance on intersection

[soblin]

Description

Additional fix PRs for #268 (autowarefoundation#2790) containing following PRs:

• fix(behavior_velocity_planner): keep intersection module for lanes with same parent and same direction autowarefoundation/autoware.universe#2874
• feat(intersection): consider lane change in intersection based on associative ids autowarefoundation/autoware.universe#2899

to handle path/route change on the intersection due to Lane Change or Avoidance.

Tests performed

Worked properly on PSim with avoidance and re-routing.

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[codecov-commenter]

Codecov Report

❗ No coverage uploaded for pull request base (beta/v0.7.2@825ea4a). Click here to learn what that means.
Patch has no changes to coverable lines.

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Additional details and impacted files

@@              Coverage Diff              @@
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  Misses                 ?    5809           
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Flag	Coverage Δ
differential	4.13% <0.00%> (?)

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