feat(intersection): yield initially on green light

[soblin]

Description

When ego vehicle entered the intersection on green traffic light collision is not detected instantly because NPC vehicles are very slow. This PR adds the feature to detect whatever vehicles in the attention area and stop for a while.

Related links

https://tier4.atlassian.net/browse/RT0-29284
launcher PR: autowarefoundation/autoware_launch#623

Tests performed

In the attached video [00:07], "intersection" stop line is inserted even if the ego/NPCs are very slow.

PR5234-2023-10-06_22.06.25.mp4

evaluator: https://evaluation.tier4.jp/evaluation/reports/ec7990b5-f3b7-549c-822d-22c3f72201f1?project_id=prd_jt

Notes for reviewers

Interface changes

none.

Effects on system behavior

none.

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[codecov]

Codecov Report

Attention: 42 lines in your changes are missing coverage. Please review.

Comparison is base (877b04b) 14.78% compared to head (392d5b6) 14.74%.
Report is 6 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5234      +/-   ##
==========================================
- Coverage   14.78%   14.74%   -0.04%     
==========================================
  Files        1648     1648              
  Lines      113979   114459     +480     
  Branches    35108    35450     +342     
==========================================
+ Hits        16848    16878      +30     
- Misses      78193    78596     +403     
- Partials    18938    18985      +47     

Flag	Coverage Δ		*Carryforward flag
differential	6.29% <0.00%> (?)
total	14.78% <ø> (+<0.01%)	⬆️	Carriedforward from 4b506a8

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

Files	Coverage Δ
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	0.00% <ø> (ø)
...ity_intersection_module/src/scene_intersection.hpp	0.00% <ø> (ø)
...avior_velocity_intersection_module/src/manager.cpp	21.42% <0.00%> (+5.11%)	⬆️
...ity_intersection_module/src/scene_intersection.cpp	0.00% <0.00%> (ø)

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[rej55]

It seems that the ego vehicle stops in vain if the corresponding allow signal is green.