feat(time-based-safe-dist): improve obstacle_cruise_planner safe distance for dence urban ODD scenarios

[ahmeddesokyebrahim]

Description

Closes autowarefoundation/autoware.universe#7922

Related links

autowarefoundation/autoware.universe#7485

Tests performed

Using scenario simulation

• scenario
• map

Before this PR:

2024-07-09.15-09-42.mp4

After this PR:

2024-07-15.23-04-11.mp4

Notes for reviewers

This PR is used by this autoware.universe PR

Interface changes

ROS Topic Changes

N.A

ROS Parameter Changes

Parameter Name	Default Value	Update Description
common.safe_distance_method	"time_based"	safe distance method selection from time_based and RSS
common.safe_distance_time_margin	2.0	time values used in time-based safe distance rule, e.g. 2-seconds rule, 3-seconds rule [s]

Effects on system behavior

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[ahmeddesokyebrahim]

I will close this PR, replacing it with another approach in this PR