feat(intersection): consider abnormal violating vehicles

[soblin]

Description

consider abnormal vehicles that are violating the right of way in the context.

This feature considers the vehicles over the stopline of the yield lanes. For the stopline, either traffic light stopline or road marking stopline is used (road marking stopline is prioritized).

[component_container_mt-30] [INFO 1708054629.954909385] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection_module]: for yield lane 175066, stopline id is 175215
[component_container_mt-30] [INFO 1708054629.954938931] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection_module]: for yield lane 1104, stopline id is 2036
[component_container_mt-30] [INFO 1708054629.954945512] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection_module]: for yield lane 1103, stopline id is 2036
[component_container_mt-30] [INFO 1708054629.954949123] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection_module]: for yield lane 1101, stopline id is 175303
[component_container_mt-30] [INFO 1708054629.954953227] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection_module]: for yield lane 1097, stopline id is 2014
[component_container_mt-30] [INFO 1708054629.954960151] [planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner.intersection_module]: for yield lane 1098, stopline id is 2026

Related links

https://tier4.atlassian.net/browse/RT1-4769

Tests performed

Notes for reviewers

Interface changes

none

Effects on system behavior

none

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[stale]

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