Merge pull request autowarefoundation#772 from tier4/cherry-pick/inte…

…rsection2

feat(intersection): cherry-pick awf autowarefoundation#852 + autowarefoundation#851

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -15,6 +15,14 @@
         enable_pass_judge_before_default_stopline: false
 
       stuck_vehicle:
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: false
+          bicycle: false
+          unknown: false
         turn_direction:
           left: true
           right: true
@@ -27,6 +35,14 @@
         disable_against_private_lane: true
 
       yield_stuck:
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: false
+          bicycle: false
+          unknown: false
         turn_direction:
           left: true
           right: true
@@ -37,6 +53,14 @@
         consider_wrong_direction_vehicle: false
         collision_detection_hold_time: 0.5
         min_predicted_path_confidence: 0.05
+        target_type:
+          car: true
+          bus: true
+          truck: true
+          trailer: true
+          motorcycle: true
+          bicycle: true
+          unknown: false
         velocity_profile:
           use_upstream: true
           minimum_upstream_velocity: 0.01
@@ -56,7 +80,9 @@
           duration: 3.0
           object_dist_to_stopline: 10.0
         ignore_on_amber_traffic_light:
-          object_expected_deceleration: 2.0
+          object_expected_deceleration:
+            car: 2.0
+            bike: 5.0
         ignore_on_red_traffic_light:
           object_margin_to_path: 2.0
         avoid_collision_by_acceleration: