feat(intersection): consider 1st/2nd pass judge line

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml

@@ -7,11 +7,13 @@
         attention_area_angle_threshold: 0.785
         use_intersection_area: false
         default_stopline_margin: 3.0
+        second_pass_judge_line_margin: 2.0
         stopline_overshoot_margin: 0.5
         path_interpolation_ds: 0.1
         max_accel: -2.8
         max_jerk: -5.0
         delay_response_time: 0.5
+        enable_pass_judge_before_default_stopline: false
 
       stuck_vehicle:
         turn_direction:
@@ -36,7 +38,6 @@
         consider_wrong_direction_vehicle: false
         collision_detection_hold_time: 0.5
         min_predicted_path_confidence: 0.05
-        keep_detection_velocity_threshold: 0.833
         velocity_profile:
           use_upstream: true
           minimum_upstream_velocity: 0.01