feat(intersection): consider lane change in intersection based on associative ids

[soblin]

Description

Changed collision checking and some of the area generation based on the path, not the lane considering lane changing before / inside intersection.

Related links

Internal JIRA link: https://tier4.atlassian.net/browse/T4PB-25079

Tests performed

stuck vehicle detect area

Before this PR

After this PR

collision checking

working as before because ego_lane polygon(the orange polygon) is also generated from the path.

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[codecov]

Codecov Report

Base: 11.80% // Head: 11.74% // Decreases project coverage by -0.07% ⚠️

Coverage data is based on head (e2963cb) compared to base (61a891f).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2899      +/-   ##
==========================================
- Coverage   11.80%   11.74%   -0.07%     
==========================================
  Files        1319     1319              
  Lines       92319    92826     +507     
  Branches    24794    25095     +301     
==========================================
  Hits        10899    10899              
- Misses      70061    70549     +488     
- Partials    11359    11378      +19     

Flag	Coverage Δ		*Carryforward flag
differential	3.92% <0.00%> (?)
total	11.81% <ø> (+0.01%)	⬆️	Carriedforward from 76aa718

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

Impacted Files	Coverage Δ
...nner/include/scene_module/intersection/manager.hpp	0.00% <ø> (ø)
...vior_velocity_planner/include/utilization/util.hpp	0.00% <0.00%> (ø)
...ty_planner/src/scene_module/intersection/debug.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/intersection/manager.cpp	0.00% <0.00%> (ø)
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)
...ule/intersection/scene_merge_from_private_road.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)
...behavior_velocity_planner/src/utilization/util.cpp	10.66% <0.00%> (-1.28%)	⬇️
...elocity_planner/src/scene_module/run_out/debug.cpp	0.00% <0.00%> (ø)
...elocity_planner/src/scene_module/run_out/scene.cpp	0.00% <0.00%> (ø)
... and 9 more

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[takayuki5168]

I confirmed that the PR worked well with avoidance in the intersection