chore(lane_change): use BehaviorModuleOuput as output of generatePlannedPath

[takayuki5168]

Description

For the following PR with which each module's output for drivable area will be drivable area information like drivable_lanes instead of drivable area line strings, the lane change module's output (generatePlannedPath's output) was changed from Path to BehavioModuleOutput.
tier4#373

Tests performed

planning simulator works well.

Effects on system behavior

Nothing

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch coverage: 1.36% and no project coverage change.

Comparison is base (575b21d) 13.78% compared to head (03f13cc) 13.79%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3508   +/-   ##
=======================================
  Coverage   13.78%   13.79%           
=======================================
  Files        1391     1392    +1     
  Lines       97516    97501   -15     
  Branches    28875    28853   -22     
=======================================
+ Hits        13446    13453    +7     
+ Misses      69600    69595    -5     
+ Partials    14470    14453   -17     

Flag	Coverage Δ		*Carryforward flag
differential	12.41% <1.36%> (?)
total	13.80% <ø> (+0.01%)	⬆️	Carriedforward from 575b21d

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

Impacted Files	Coverage Δ
...anner/include/behavior_path_planner/parameters.hpp	0.00% <ø> (ø)
...th_planner/scene_module/lane_change/base_class.hpp	10.52% <ø> (ø)
...ane_change/external_request_lane_change_module.hpp	0.00% <ø> (ø)
...r_path_planner/scene_module/lane_change/normal.hpp	0.00% <ø> (ø)
...th_planner/scene_module/scene_module_interface.hpp	37.00% <0.00%> (-2.37%)	⬇️
..._planner/utils/avoidance/avoidance_module_data.hpp	0.00% <ø> (ø)
...anner/utils/drivable_area_expansion/parameters.hpp	20.00% <0.00%> (-3.34%)	⬇️
...nner/utils/lane_change/lane_change_module_data.hpp	50.00% <ø> (ø)
...ath_planner/utils/pull_out/pull_out_parameters.hpp	0.00% <ø> (ø)
...planner/utils/side_shift/side_shift_parameters.hpp	0.00% <ø> (ø)
... and 13 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

[zulfaqar-azmi-t4]

LGTM!