fix(start_planner): fix loop lanes

[kosuke55]

Description

When route lane is looped can not generate path with start_planner.

utils::getExtendedCurrentLanes(
    planner_data_, backward_path_length, std::numeric_limits<double>::max());

In this PR, I added loop check to getExtendedCurrentLanes

Related links

Tests performed

psim

tier4 interanl sceanrio test

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

Patch coverage: 23.07% and project coverage change: -0.04 ⚠️

Comparison is base (dc29d01) 15.19% compared to head (4fcc825) 15.16%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4304      +/-   ##
==========================================
- Coverage   15.19%   15.16%   -0.04%     
==========================================
  Files        1491     1491              
  Lines      102790   103170     +380     
  Branches    31543    31793     +250     
==========================================
+ Hits        15617    15642      +25     
- Misses      70214    70535     +321     
- Partials    16959    16993      +34     

Flag	Coverage Δ		*Carryforward flag
differential	13.57% <23.07%> (?)
total	15.19% <ø> (+<0.01%)	⬆️	Carriedforward from dc29d01

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

Impacted Files	Coverage Δ
...r_path_planner/scene_module/lane_change/normal.hpp	0.00% <ø> (ø)
...nner/utils/lane_change/lane_change_module_data.hpp	0.00% <ø> (ø)
...avior_path_planner/src/utils/lane_change/utils.cpp	0.42% <0.00%> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	4.69% <12.50%> (+0.09%)	⬆️
planning/behavior_path_planner/src/utils/utils.cpp	16.69% <57.14%> (+0.21%)	⬆️

... and 2 files with indirect coverage changes

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