fix(path_generator): fix path bound for overlapped lanes

[kosuke55]

Description

1. fix calculation of s for projected point in overlapping lanes

  const auto s_bound_start =
    lanelet::geometry::toArcCoordinates(
      lanelet_bound_2d, lanelet::geometry::interpolatedPointAtDistance(lanelet_centerline, s_start))
      .length;

In the previous calculations, toArcCoordinates in overlapping lanes would find s in the first lane.
Even if s is in return lane, the s for outward lane will be calculated.
In this PR, calc_bound_s_range is modified to find the lane containing s at the centerline and calculate s at the boundary of same lane.

before

after

2. Make get_first_self_intersection_arc_length not calculate the intersection before s_start.

So far, the intersection before s_start was also calculated if it was in the current lane. This will delay the timing of path cut release.

3. fix wrong clamp usage

prevent hi < lo when *s_intersection - vehicle_info_.max_longitudinal_offset_m is negative

Related links

tier4 internal slack

Parent Issue:

• Link

How was this PR tested?

• psim

path_cut-2025-03-16_21.19.06.mp4

path_cut-2025-03-16_21.17.10.mp4

• evaluator

2025/03/16 https://evaluation.tier4.jp/evaluation/reports/0452bf5a-59d4-5bbf-aed4-8764dba357d7/?project_id=prd_jt
2025/03/17 https://evaluation.tier4.jp/evaluation/reports/35423c04-0ab5-5771-b10d-4b9c7979100f/?project_id=prd_jt

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 76.56250% with 15 lines in your changes missing coverage. Please review.

Project coverage is 19.43%. Comparing base (4cb18f5) to head (6c098d4).
Report is 89 commits behind head on main.

Files with missing lines	Patch %	Lines
planning/autoware_path_generator/src/utils.cpp	77.96%	6 Missing and 7 partials ⚠️
planning/autoware_path_generator/src/node.cpp	60.00%	2 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #280       +/-   ##
===========================================
- Coverage   78.75%   19.43%   -59.33%     
===========================================
  Files          11       85       +74     
  Lines         193     3757     +3564     
  Branches       73      765      +692     
===========================================
+ Hits          152      730      +578     
- Misses         11     2951     +2940     
- Partials       30       76       +46     

Flag	Coverage Δ
differential	19.43% <76.56%> (?)
total	?

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