feat(lane_departure_checker): check shoulder lane

[kosuke55]

Signed-off-by: kosuke55 kosuke.tnp@gmail.com

Description

check shoulder lanes in lane_departure_checker.

the yellow marker is the target candidate lanes, it includes shoulder lanes.

ego is in the shoulder lane

ego is out of the shoulder lane

Related links

Tests performed

psim

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[codecov]

Codecov Report

Base: 11.49% // Head: 11.48% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (fdb828c) compared to base (316f5e9).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2614      +/-   ##
==========================================
- Coverage   11.49%   11.48%   -0.02%     
==========================================
  Files        1271     1271              
  Lines       88412    88535     +123     
  Branches    23314    23407      +93     
==========================================
+ Hits        10164    10165       +1     
- Misses      67476    67581     +105     
- Partials    10772    10789      +17     

Flag	Coverage Δ		*Carryforward flag
differential	4.94% <0.00%> (?)
total	11.49% <0.00%> (ø)		Carriedforward from 316f5e9

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

Impacted Files	Coverage Δ
.../lane_departure_checker/lane_departure_checker.hpp	0.00% <ø> (ø)
..._departure_checker_node/lane_departure_checker.cpp	0.00% <0.00%> (ø)
...rture_checker_node/lane_departure_checker_node.cpp	0.61% <0.00%> (+0.20%)	⬆️

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[kosuke55]

@kyoichi-sugahara
Could you please check this PR?:pray: