feat(goal_planner): align vehicle center to be parallel to lane boundary

[soblin]

Description

in curved lanes, align the goal candidate pose so that the vehicle center becomes parallel to the pull over lane boundary on the parking side

Related links

Parent Issue:

• Link

How was this PR tested?

• https://evaluation.tier4.jp/evaluation/reports/257d6f6e-65f2-5780-9ae2-a23e0cc60249?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 0% with 3 lines in your changes missing coverage. Please review.

Project coverage is 26.75%. Comparing base (1e2f71b) to head (9512e27).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ior_path_goal_planner_module/src/goal_searcher.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10118      +/-   ##
==========================================
- Coverage   26.77%   26.75%   -0.02%     
==========================================
  Files        1416     1419       +3     
  Lines      108454   108509      +55     
  Branches    41706    41707       +1     
==========================================
  Hits        29035    29035              
- Misses      76548    76603      +55     
  Partials     2871     2871              

Flag	Coverage Δ		*Carryforward flag
differential	0.54% <0.00%> (?)
total	26.77% <ø> (+<0.01%)	⬆️	Carriedforward from 1e2f71b

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