feat(crosswalk)!: update stop position caluculation

[yuki-takagi-66]

Description

This PR updates the algorithm for calculating the stop position for pedestrians.

Except for the exceptional behavior, the updated algorithm is as follows

1. select the nearest stop position from the map and the pedestrians
2. modify or select the stop position, taking acceleration and limit safety margin distance into account.
3. check if the selected stopping point is appropriate for the braking distance.

Related links

launch PR: autowarefoundation/autoware_launch#1162

How was this PR tested?

psim and tier4 internal tests

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8853/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-8853/planning/behavior_velocity_planner/autoware_behavior_velocity_crosswalk_module/

[codecov]

Codecov Report

Attention: Patch coverage is 12.19512% with 72 lines in your changes missing coverage. Please review.

Project coverage is 27.78%. Comparing base (64453f2) to head (781f601).
Report is 23 commits behind head on main.

Files with missing lines	Patch %	Lines
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	0.00%	72 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8853      +/-   ##
==========================================
- Coverage   27.80%   27.78%   -0.03%     
==========================================
  Files        1325     1330       +5     
  Lines       98809    98910     +101     
  Branches    39631    39656      +25     
==========================================
+ Hits        27476    27481       +5     
- Misses      71248    71344      +96     
  Partials       85       85              

Flag	Coverage Δ		*Carryforward flag
differential	17.78% <12.19%> (?)
total	27.80% <ø> (+<0.01%)	⬆️	Carriedforward from 64453f2

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