refactor(behavior_velocity_crosswalk_module): clean up the code of stop line calculation

[takayuki5168]

Description

• refactor the main function of modifyPathVelocity so that the calculation procedure can be easily understood.

Tests performed

• planning simulator
• scenario simulator (no degradation)
  • 1574/1588 https://evaluation.tier4.jp/evaluation/reports/795e6b48-5a73-5f56-a012-42d425bca3f8?project_id=prd_jt

Effects on system behavior

Nothing

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +1.00 🎉

Comparison is base (77a7616) 14.18% compared to head (faf6ed6) 15.19%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4284      +/-   ##
==========================================
+ Coverage   14.18%   15.19%   +1.00%     
==========================================
  Files        1599     1491     -108     
  Lines      110058   102793    -7265     
  Branches    31551    31557       +6     
==========================================
  Hits        15615    15615              
+ Misses      77483    70218    -7265     
  Partials    16960    16960              

Flag	Coverage Δ		*Carryforward flag
differential	11.43% <0.00%> (?)
total	15.20% <ø> (+1.01%)	⬆️	Carriedforward from 77a7616

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

Impacted Files	Coverage Δ
planning/behavior_path_planner/src/utils/utils.cpp	16.47% <ø> (ø)
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	0.00% <0.00%> (ø)
..._velocity_crosswalk_module/src/scene_crosswalk.hpp	0.00% <ø> (ø)
...ng/behavior_velocity_crosswalk_module/src/util.hpp	0.00% <ø> (ø)

... and 109 files with indirect coverage changes

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