refactor(behavior_velocity_crosswalk_module): clean up the code

[takayuki5168]

Description

clean up the code of crosswalk module

Tests performed

planning simulator
scenario simulator: https://evaluation.tier4.jp/evaluation/reports/06ac3eb7-b22e-5289-833a-d8c24c13db21?project_id=prd_jt (1574/1579)

Effects on system behavior

Nothing

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (af4ce27) 14.28% compared to head (1567296) 14.28%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4182      +/-   ##
==========================================
- Coverage   14.28%   14.28%   -0.01%     
==========================================
  Files        1575     1577       +2     
  Lines      108526   108531       +5     
  Branches    31405    31396       -9     
==========================================
  Hits        15504    15504              
- Misses      76159    76160       +1     
- Partials    16863    16867       +4     

Flag	Coverage Δ		*Carryforward flag
differential	11.62% <0.00%> (?)
total	14.30% <ø> (+0.02%)	⬆️	Carriedforward from af4ce27

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

Impacted Files	Coverage Δ
...e/tier4_autoware_utils/geometry/boost_geometry.hpp	50.00% <ø> (ø)
...g/behavior_velocity_crosswalk_module/src/debug.cpp	0.00% <0.00%> (ø)
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	0.00% <0.00%> (ø)
..._velocity_crosswalk_module/src/scene_crosswalk.hpp	0.00% <0.00%> (ø)
...or_velocity_crosswalk_module/src/scene_walkway.cpp	0.00% <0.00%> (ø)
...ng/behavior_velocity_crosswalk_module/src/util.cpp	0.00% <0.00%> (ø)
...ng/behavior_velocity_crosswalk_module/src/util.hpp	0.00% <0.00%> (ø)

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