change obstacle_stop_planer to obstacle_cruise_planner

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

planning/behavior_path_start_planner_module/README.md

@@ -140,7 +140,7 @@ The approach to collision safety is divided into two main components: generating
     Consider a scenario in a "geometric pull out path" where the clearance from the path to a static obstacle is minimal, and there is a stopped vehicle ahead. In this case, although the path may meet safety standards and thus be generated, a concurrently operating avoidance module might deem it impossible to avoid the obstacle, potentially leading to vehicle deadlock. To ensure there is enough distance for avoidance maneuvers, the distance to the front obstacle is assessed. Increasing this parameter can prevent immobilization within the avoidance module but may also lead to the frequent generation of backward paths or geometric pull out path, resulting in paths that may seem unnatural to humans.
 
   - Why is a margin from the rear object necessary?
-    For objects ahead, another behavior module can intervene, allowing the path to overwrite itself through an avoidance plan, even if the clearance from the path to a static obstacle is minimal, thus maintaining a safe distance from static obstacles. However, for objects behind the vehicle, it is impossible for other behavior modules other than the start_planner to alter the path to secure a margin, potentially leading to a deadlock by an action module like "obstacle_stop_cruise" and subsequent immobilization. Therefore, a margin is set for stationary objects at the rear.
+    For objects ahead, another behavior module can intervene, allowing the path to overwrite itself through an avoidance plan, even if the clearance from the path to a static obstacle is minimal, thus maintaining a safe distance from static obstacles. However, for objects behind the vehicle, it is impossible for other behavior modules other than the start_planner to alter the path to secure a margin, potentially leading to a deadlock by an action module like "obstacle_cruise_planner" and subsequent immobilization. Therefore, a margin is set for stationary objects at the rear.
 
 Here's the expression of the steps start pose searching steps, considering the `collision_check_margins` is set at [2.0, 1.0, 0.5, 0.1] as example. The process is as follows: