feat(run_out): use the predicted object's velocity and covariance for the collision detection

[TomohitoAndo]

Description

I added option to use the object's velocity and covariance for the collision detection, and set this as default option.

Currently, objects in run out module have the min and max velocity, which is specified in the parameter.
For example, if the min velocity is 0km/h, and the max velocity is 5km/h, obstacle's polygon to calculate the time to collision is like bellow image.

In this PR, option to use min and max velocity are calculated from the object's velocity and its covariance is added.

PR for the launch:

• feat(run_out): add parameter to decide whether to use the object's velocity autoware_launch#704

Tests performed

PSim
Scenario Test (TIER IV Internal)

run_out_object_vel.mp4

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Attention: 26 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (8eb6f6a) 19.14%.
Report is 62 commits behind head on main.

Files	Patch %	Lines
...r_velocity_run_out_module/src/dynamic_obstacle.cpp	0.00%	21 Missing ⚠️
...g/behavior_velocity_run_out_module/src/manager.cpp	28.57%	0 Missing and 5 partials ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5672       +/-   ##
===========================================
+ Coverage   15.32%   19.14%    +3.81%     
===========================================
  Files        1721       15     -1706     
  Lines      118559     1379   -117180     
  Branches    37995      685    -37310     
===========================================
- Hits        18169      264    -17905     
+ Misses      79657      817    -78840     
+ Partials    20733      298    -20435     

Flag	Coverage Δ
differential	19.14% <7.14%> (?)
total	?

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