fix: ProjectPositionToLaneSurface error message missing entity description

When the position of an entity is being projected onto a lane (with ProjectPositionToLaneSurface) but it fails because the entity is outside the lane, the error message only reports the position of the entity.

With this MR, a new message is shown displaying the name and ID of the entity that is outside the lane, helping the users debug the issue with their scenario. In addition, added a guard to check return value of ProjectPositionToLaneSurface in lane_offset_control_unit.cpp.