feat(intersection): ensure temporal stop before peeking into oncoming lane

[soblin]

Description

Added the option to stop before vehicle heading enters the oncoming lane when peeking offset is positive.

Related links

launcher PR: autowarefoundation/autoware_launch#578

https://tier4.atlassian.net/browse/RT1-3284

Tests performed

Psim

PR5047-2023-09-20_19.09.54.mp4

Notes for reviewers

This PR is off by default.

Interface changes

none

Effects on system behavior

none

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[codecov]

Codecov Report

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

Comparison is base (7f98ecf) 15.00% compared to head (cbf456b) 14.99%.
Report is 4 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5047      +/-   ##
==========================================
- Coverage   15.00%   14.99%   -0.01%     
==========================================
  Files        1608     1608              
  Lines      111744   111726      -18     
  Branches    34663    34657       -6     
==========================================
- Hits        16762    16750      -12     
- Misses      76259    76260       +1     
+ Partials    18723    18716       -7     

Flag	Coverage Δ		*Carryforward flag
differential	6.66% <0.00%> (?)
total	14.99% <ø> (-0.01%)	⬇️	Carriedforward from 7f98ecf

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

Files Changed	Coverage Δ
...ils/include/motion_utils/trajectory/trajectory.hpp	67.09% <ø> (+0.06%)	⬆️
...planning_rviz_plugin/include/path/display_base.hpp	0.00% <ø> (ø)
...clude/behavior_path_planner/marker_utils/utils.hpp	0.00% <ø> (ø)
...th_planner/scene_module/lane_change/base_class.hpp	15.55% <ø> (ø)
..._safety_checker/path_safety_checker_parameters.hpp	33.33% <ø> (ø)
...ath_planner/src/marker_utils/lane_change/debug.cpp	0.00% <ø> (ø)
...g/behavior_path_planner/src/marker_utils/utils.cpp	6.05% <ø> (ø)
...planner/src/scene_module/lane_change/interface.cpp	6.52% <ø> (ø)
...th_planner/src/scene_module/lane_change/normal.cpp	3.77% <ø> (ø)
...planner/src/utils/goal_planner/shift_pull_over.cpp	3.57% <ø> (+0.03%)	⬆️
... and 11 more

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