feat(lane_change): using frenet planner to generate lane change path when ego near terminal

[zulfaqar-azmi-t4]

Description

This PR adds frenet planner to generate candidate path when ego is near terminal.

Related launcher's PR. autowarefoundation/autoware_launch#1290

Related links

Parent Issue:

• Link

How was this PR tested?

1. PSIM
2. Evaluator TIER IV Internal link

Notes for reviewers

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	trajectory.th_prepare_curvature	double	0.03	If the maximum curvature of the prepare segment exceeds the threshold, the prepare segment is invalid.
Added	frenet.enable	bool	0.03	Enable frenet planner if ego is near terminal start.
Added	frenet.th_yaw_diff	bool	10.0	If the yaw diff between of the prepare segment's end and lane changing segment's start exceed the threshold , the lane changing segment is invalid.
Added	frenet.th_curvature_smoothing	bool	0.1	Filters and appends target path points with curvature below the threshold to candidate path.

Effects on system behavior

None.

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-9767/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-9767/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/