feat(intersection): ignore decelerating vehicle on amber traffic light

[soblin]

Description

If the NPC's distance to its stopline before the intersection is larger than the braking distance, it is ignored in the collision detection when ego traffic light color is amber.

Related links

launcher PR: autowarefoundation/autoware_launch#635

Tests performed

In the video a NPC approaches from the same position with the same velocity on green/amber traffic light. When ego traffic light color is amber collision detection is not active until the vehicle approaches the stop line.

PR5304-2023-10-13_17.59.39.mp4

evaluator: https://evaluation.tier4.jp/evaluation/reports/9afba9e8-1bed-560f-8a0b-0dbca794fb59?project_id=prd_jt

Notes for reviewers

Interface changes

none.

Effects on system behavior

none.

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[codecov]

Codecov Report

Attention: 210 lines in your changes are missing coverage. Please review.

Comparison is base (4383d6b) 14.81% compared to head (4ccff1f) 14.80%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5304      +/-   ##
==========================================
- Coverage   14.81%   14.80%   -0.01%     
==========================================
  Files        1665     1665              
  Lines      115176   115236      +60     
  Branches    35519    35552      +33     
==========================================
  Hits        17066    17066              
- Misses      78870    78926      +56     
- Partials    19240    19244       +4     

Flag	Coverage Δ		*Carryforward flag
differential	5.83% <0.00%> (?)
total	14.83% <ø> (+0.01%)	⬆️	Carriedforward from 4383d6b

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

Files	Coverage Δ
...ity_intersection_module/src/scene_intersection.hpp	0.00% <ø> (ø)
...ehavior_velocity_intersection_module/src/debug.cpp	0.00% <0.00%> (ø)
...ior_velocity_intersection_module/src/util_type.hpp	0.00% <0.00%> (ø)
...avior_velocity_intersection_module/src/manager.cpp	14.66% <0.00%> (-0.23%)	⬇️
...ity_intersection_module/src/scene_intersection.cpp	0.00% <0.00%> (ø)
...behavior_velocity_intersection_module/src/util.cpp	0.00% <0.00%> (ø)

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