feat(detection_area)!: suppression of giving up stopping

[yuki-takagi-66]

Description

This PR implements functionality to enable stopping when obstacles are detected within the DA (Detection Area) after passing the stop line.

The implemented code leverages existing features from autowarefoundation to meet the requirements specified in the documentation.

This PR is implemented with reference to the following PRs:

• fix(behavior_velocity_planner): fix detection area being ignored when the ego vehicle stops over the stop line autowarefoundation/autoware.universe#3114
• feat(detection_area)!: add retruction feature autowarefoundation/autoware.universe#9255

Implementation Details

The correspondence between design requirements and implementation is as follows:

Requirement	Implementation Location
Add Param for margin in StopLine override judgment	https://github.com/tier4/autoware.universe/pull/1631/files#diff-eab2555cc9571b6c90cacb8122131e12d7bd9258aaf241781c4e7cf3287b7b73R61
Add Param for DA judgment time extension setting	https://github.com/tier4/autoware.universe/pull/1631/files#diff-eab2555cc9571b6c90cacb8122131e12d7bd9258aaf241781c4e7cf3287b7b73R62
When DA judgment time extension is enabled, extend DA stop judgment time until (vehicle speed > 0) is observed	https://github.com/tier4/autoware.universe/pull/1631/files#diff-45a0b8c1f68a13b18e90d3b03a96d5572006228360e908ee749b333fa7acb7e5R234-R238
Add margin to StopLine override judgment	https://github.com/tier4/autoware.universe/pull/1631/files#diff-45a0b8c1f68a13b18e90d3b03a96d5572006228360e908ee749b333fa7acb7e5R374-R375

Related links

Parent Issue:

• Link
• https://github.com/tier4/autoware_launch.x1.eve/pull/511

How was this PR tested?

Since there are no changes to the Interface*, we determined that functional testing of this DetectionAreaModule using the following Test criteria is sufficient:

• Test criteria: https://docs.google.com/presentation/d/1_OSWKhMmRUf1QYhQGOVd9jnOLOWl8S7rGE-5VcO04zk/edit#slide=id.g315595f3e6d_0_12942
• Test results: https://tier4.atlassian.net/browse/AEAP-1903?focusedCommentId=194502

I confirm that the specified tests have passed and no critical defects were found in the specified design.

*) Topic names, Msg definitions, SceneModuleInterface

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[peeeechi]

Please add the following to 'How was this PR tested?' section
(This is to ensure that test perspectives and results can be tracked in the commit):

• Test criteria: https://docs.google.com/presentation/d/1_OSWKhMmRUf1QYhQGOVd9jnOLOWl8S7rGE-5VcO04zk/edit#slide=id.g315595f3e6d_0_12942
• Test results: https://tier4.atlassian.net/browse/AEAP-1903?focusedCommentId=194502

[yn-mrse]

@yuki-takagi-66
Please change the base branch from beta/v0.3.19 to beta/v0.3.20.

[yn-mrse]

Link your internal JIRA managed tickets to maintain traceability.

[yn-mrse]

Since it is difficult to understand what specific changes are being referred to by "sync latest feature", please set a PR title that mentions the specific feature.

[yn-mrse]

@yuki-takagi-66

The basic design document clearly states that "please consider the detailed design," but this PR makes no mention of the detailed design.
Could you attach the detailed design to the PR?

Or, if you have decided that implementing it as per the basic design document is fine, please state that in the Description field.

[sonarcloud]

Quality Gate passed

Issues
1 New issue
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

See analysis details on SonarQube Cloud

[yn-mrse]

Please justify all changes in the PR (show that the changes are necessary and sufficient).

In the "Description" field, clearly list the features and clarify how they correspond to the implementation.

[yn-mrse]

In the "How was this PR tested?" field, please include not only the URL, but also a summary of the results and your judgement as the PR submitter as to whether the changes to this PR are appropriate.

[peeeechi]

LGTM!

[peeeechi]

LGTM!