feat(crosswalk): change the TTC formula

[yuki-takagi-66]

Description

This PR change the TTC formula that would be appropriate for the ego_pass_first judge.

launch: autowarefoundation/autoware_launch#780

Tests performed

psim test and the tier4 internal tests were performed.
https://evaluation.tier4.jp/evaluation/reports/a2e1eedd-1fc7-5667-be85-e912fbca2e44?project_id=prd_jt

Not applicable.

Effects on system behavior

Not applicable.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Attention: 1 lines in your changes are missing coverage. Please review.

Comparison is base (599aea0) 15.26% compared to head (2e67a11) 15.26%.
Report is 8 commits behind head on main.

Files	Patch %	Lines
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #6033   +/-   ##
=======================================
  Coverage   15.26%   15.26%           
=======================================
  Files        1757     1757           
  Lines      121387   121339   -48     
  Branches    37024    37025    +1     
=======================================
- Hits        18529    18528    -1     
+ Misses      82043    81995   -48     
- Partials    20815    20816    +1     

Flag	Coverage Δ		*Carryforward flag
differential	12.11% <0.00%> (?)
total	15.26% <ø> (+<0.01%)	⬆️	Carriedforward from 776063f

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.