Merge pull request autowarefoundation#629 from tier4/hotfix/intersection

fix: suppress unintended permits at intersections

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

@@ -14,8 +14,7 @@
         consider_wrong_direction_vehicle: false
       stuck_vehicle:
         use_stuck_stopline: true # stopline generated before the first conflicting area
-        stuck_vehicle_detect_dist: 3.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
-        stuck_vehicle_ignore_dist: 10.0 # obstacle stop max distance(5.0m) + stuck vehicle size / 2 (0.0m-)
+        stuck_vehicle_detect_dist: 5.0 # this should be the length between cars when they are stopped. The actual stuck vehicle detection length will be this value + vehicle_length.
         stuck_vehicle_vel_thr: 0.833 # 0.833m/s = 3.0km/h
         # enable_front_car_decel_prediction: false # By default this feature is disabled
         # assumed_front_car_decel: 1.0 # [m/ss] the expected deceleration of front car when front car as well as ego are turning
@@ -48,6 +47,7 @@
         denoise_kernel: 1.0 # [m]
         possible_object_bbox: [1.5, 2.5] # [m x m]
         ignore_parked_vehicle_speed_threshold: 0.8333 # == 3.0km/h
+        stop_release_margin_time: 1.5 # [s]
 
       enable_rtc:
         intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval