Invalid trajectory is being published during lane change when use_waypoints is true and the lane has embedded centerline

[MertClk]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I'm convinced that this is not my fault but a bug.

Description

Background:
In Lanelet2, the centerline guides the vehicle’s path, but its current use in Autoware causes issues such as inaccurate object path predictions and incorrect Frenet frame transformations. To address these, overwriteLaneletsCenterlineWithWaypoints converts the centerline into waypoints for ego path planning, solving the issues but making Autoware's centerline usage harder to interpret. In contrast, overwriteLaneletsCenterline keeps the explicit centerline but retains the limitations.

Link to docs

Issue:
When performing a lane change with an explicit centerline and use_waypoints = true, the trajectory becomes unstable.

Video

Expected behavior

• Valid trajectory is being published

Actual behavior

• Invalid trajectory is being published

Steps to reproduce

1. Run PSim with this map.
2. Try lane change

Versions

No response

Possible causes

• getCenterLinePath function can not clip the path when use_waypoints is true and when the lane has centerline.

Additional context

No response