Merge pull request #1904 from s-azumi/backport/pr9913_to_v0.39

chore: backport pr9913 to v0.39

Author: rej55

planning/behavior_velocity_planner/autoware_behavior_velocity_planner_common/src/scene_module_interface.cpp

@@ -173,6 +173,7 @@ void SceneModuleManagerInterface::deleteExpiredModules(
   auto itr = scene_modules_.begin();
   while (itr != scene_modules_.end()) {
     if (isModuleExpired(*itr)) {
+      registered_module_id_set_.erase((*itr)->getModuleId());
       itr = scene_modules_.erase(itr);
     } else {
       itr++;