feat(intersection): aggressively peek into attention area if traffic light does not exist

[soblin]

Description

When there are no traffic lights, ego will make two brief stops before entering the attention area, and then creep while taking care of the collisions.

Related links

https://tier4.atlassian.net/browse/RT1-2831

launcher PR: autowarefoundation/autoware_launch#611

Tests performed

https://evaluation.tier4.jp/evaluation/reports/751a7e16-3c27-5375-a6d9-39f54a760c95?project_id=prd_jt

Psim

If occlusion is detected at intersection without traffic light, the ego vehicle will make two brief stops before entering the attention area ([00:10] in the video). Then it slowly drives while taking care of collisions with other upcoming vehicles.

PR519.-2023-10-03_23.04.25.mp4

Manual mode

As of this PR when there is no traffic light in the intersection, only INTERSECTION can be controlled manually, and when the two phase stops are executed, ego vehicle will automatically creep while occlusion is detected. During the creeping, collision detection is enabled.

Notes for reviewers

Interface changes

none.

Effects on system behavior

none.

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-5192/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-5192/planning/behavior_velocity_intersection_module/

[codecov]

Codecov Report

Attention: 116 lines in your changes are missing coverage. Please review.

Comparison is base (81ede03) 14.77% compared to head (880ae61) 14.76%.
Report is 5 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5192      +/-   ##
==========================================
- Coverage   14.77%   14.76%   -0.01%     
==========================================
  Files        1645     1645              
  Lines      113788   113847      +59     
  Branches    35012    35038      +26     
==========================================
  Hits        16809    16809              
- Misses      78092    78146      +54     
- Partials    18887    18892       +5     

Flag	Coverage Δ		*Carryforward flag
differential	6.47% <0.00%> (?)
total	14.78% <ø> (+<0.01%)	⬆️	Carriedforward from 81ede03

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

Files	Coverage Δ
...behavior_velocity_intersection_module/src/util.cpp	0.00% <ø> (ø)
...ior_velocity_intersection_module/src/util_type.hpp	0.00% <ø> (ø)
...ity_intersection_module/src/scene_intersection.hpp	0.00% <0.00%> (ø)
...ehavior_velocity_intersection_module/src/debug.cpp	0.00% <0.00%> (ø)
...avior_velocity_intersection_module/src/manager.cpp	16.59% <0.00%> (-0.67%)	⬇️
...ity_intersection_module/src/scene_intersection.cpp	0.00% <0.00%> (ø)

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