Merge pull request autowarefoundation#820 from tier4/cp-lane-change-intersection

fix(lane_change): cherry-pick for lane change improvement

Author: shmpwk

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml

@@ -78,7 +78,9 @@
         pedestrian: true
 
       # collision check
-      enable_prepare_segment_collision_check: false
+      enable_collision_check_for_prepare_phase:
+        general_lanes: false
+        intersection: true
       prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s]
       check_objects_on_current_lanes: false
       check_objects_on_other_lanes: false