feat(intersection): use planned velocity from upstream modules

[soblin]

Description

Add a flag to use the planned velocity profile from the upstream modules, especially for stop line.

Related links

https://tier4.atlassian.net/browse/RT1-3624
https://tier4.atlassian.net/browse/RT1-136

launcher PR: autowarefoundation/autoware_launch#597

Tests performed

evaluator: https://evaluation.tier4.jp/evaluation/reports/eb4df583-e8d5-5def-92f1-b163d12ddba5?project_id=prd_jt

Simple test case

In the attached video ego vehicle takes 8 seconds to arrive at the walkway virtual wall, and the collision_detection.collision_start_margin_time = 4.0[s] and ego stops at the walkway for 1[s], so the NPC travelling at 3[m/s] from the position which is (8 + 4 + 1) x 3 = 39m before the collision point is expected to be treated as safe by the intersection module but actually collides while ego is stopping at the walkway.

Before this PR, the collision happens as expected

absence_tl-2023-09-28_00.43.10.mp4

After this PR the intersection module inserts stop line

absence_tl-2023-09-28_00.45.24.mp4

Notes for reviewers

Interface changes

none.

Effects on system behavior

none.

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[codecov]

Codecov Report

Attention: 15 lines in your changes are missing coverage. Please review.

Comparison is base (0cd4f62) 14.86% compared to head (fa69800) 14.86%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5156      +/-   ##
==========================================
- Coverage   14.86%   14.86%   -0.01%     
==========================================
  Files        1627     1627              
  Lines      112571   112582      +11     
  Branches    34766    34776      +10     
==========================================
  Hits        16739    16739              
- Misses      77076    77083       +7     
- Partials    18756    18760       +4     

Flag	Coverage Δ		*Carryforward flag
differential	6.77% <0.00%> (?)
total	14.87% <ø> (+<0.01%)	⬆️	Carriedforward from ac42363

*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)
...avior_velocity_intersection_module/src/manager.cpp	17.25% <0.00%> (-0.32%)	⬇️
...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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