refactor(lane_change): add missing safety check parameter

[zulfaqar-azmi-t4]

Description

Parameterized incoming object yaw threshold.

Related PR.

Change type	Parameter Name	Type	Default Value	Description
Added	collision_check.th_incoming_object_yaw	double	2.3562	Objects with a heading difference from the ego exceeding this value are excluded from the safety check.
Added	execution.extended_polygon_policy	string	rectangle	Policy used to determine polygon's shape for safety check.
Added	cancel.extended_polygon_policy	string	rectangle	Policy used to determine polygon's shape for safety check.
Added	stuck.extended_polygon_policy	string	rectangle	Policy used to determine polygon's shape for safety check.
Added	parked.extended_polygon_policy	string	rectangle	Policy used to determine polygon's shape for safety check.

How was this PR tested?

1. PSIM
2. Evaluator/TIER IV internal link

Notes for reviewers

None.

Effects on system behavior

None.

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