fix(behavior_path_planner): use common ego nearest search for lane_following

[takayuki5168]

Description

support u-turn or crossing path with lane_following module

issue
#1581

Related links

Tests performed

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[TakaHoribe]

LGTM. Nice work.

[codecov]

Codecov Report

Merging #1686 (5d7891c) into main (74e28ed) will decrease coverage by 0.15%.
The diff coverage is 11.25%.

@@            Coverage Diff             @@
##             main    #1686      +/-   ##
==========================================
- Coverage   10.25%   10.10%   -0.16%     
==========================================
  Files        1204     1205       +1     
  Lines       86697    88450    +1753     
  Branches    20020    21259    +1239     
==========================================
+ Hits         8894     8935      +41     
- Misses      68541    70123    +1582     
- Partials     9262     9392     +130     

Flag	Coverage Δ		*Carryforward flag
differential	1.26% <10.34%> (?)
total	10.26% <8.45%> (+0.02%)	⬆️	Carriedforward from 087cc17

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

Impacted Files	Coverage Δ
...havior_path_planner/behavior_path_planner_node.hpp	0.00% <0.00%> (ø)
...lanner/scene_module/avoidance/avoidance_module.hpp	0.00% <ø> (ø)
...th_planner/scene_module/scene_module_interface.hpp	0.00% <0.00%> (ø)
...r_path_planner/scene_module/utils/path_shifter.hpp	0.00% <ø> (ø)
...lude/behavior_path_planner/turn_signal_decider.hpp	0.00% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.35% <0.00%> (+0.13%)	⬆️
...nning/behavior_path_planner/src/path_utilities.cpp	0.00% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp	0.00% <0.00%> (ø)
...path_planner/src/scene_module/lane_change/util.cpp	0.00% <0.00%> (ø)
... and 33 more

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