Merge pull request autowarefoundation#758 from tier4/cherry-pick/intersection

feat(intersection): cherry-pick intersection (autowarefoundation#792 + autowarefoundation#828)

Author: soblin

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

@@ -12,6 +12,7 @@
         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 +37,6 @@
         consider_wrong_direction_vehicle: false
         collision_detection_hold_time: 0.5
         min_predicted_path_confidence: 0.05
-        keep_detection_velocity_threshold: 1.5
         velocity_profile:
           use_upstream: true
           minimum_upstream_velocity: 0.01
@@ -59,6 +59,8 @@
           object_expected_deceleration: 2.0
         ignore_on_red_traffic_light:
           object_margin_to_path: 2.0
+        avoid_collision_by_acceleration:
+          object_time_margin_to_collision_point: 4.0
 
       occlusion:
         enable: true