feat(autoware_behavior_velocity_traffic_light_module): adjust velocity threshold for ensure stop at yellow light

[tkimura4]

Description

To address the issue in the traffic_light module where the vehicle abruptly stops the moment the light changes from amber to green without performing a pass judge when the speed is below 2.0 m/s, we will adjust the speed threshold.

At the same time, the threshold for performing pass judge has been parameterized, considering potential requests to adjust it.

Related links

[TIERIV internal link] https://tier4.atlassian.net/browse/RT0-33895

How was this PR tested?

We confirmed an improvement in the sudden deceleration behavior using the rosbag-based logging_simulator, where sudden deceleration had previously been occurring.

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

Improvements:

Enables pass judge to be applied even at low speeds (1.0 ~ 2.0 m/s), preventing unnecessary stops when the light changes from amber to green.
Ensures smoother driving and reduces unnecessary braking.
Considerations:

The modified pass judge logic may allow the vehicle to enter the intersection at low speeds.
Changes in stop-and-go behavior could result in different driving patterns compared to the previous implementation.

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[codecov]

Codecov Report

Attention: Patch coverage is 66.66667% with 1 line in your changes missing coverage. Please review.

Project coverage is 28.30%. Comparing base (fd7db7b) to head (4417dc1).
Report is 2 commits behind head on main.

Files with missing lines	Patch %	Lines
...havior_velocity_traffic_light_module/src/scene.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10064      +/-   ##
==========================================
- Coverage   28.30%   28.30%   -0.01%     
==========================================
  Files        1484     1486       +2     
  Lines      111088   111118      +30     
  Branches    43149    43152       +3     
==========================================
+ Hits        31443    31450       +7     
- Misses      76625    76648      +23     
  Partials     3020     3020              

Flag	Coverage Δ		*Carryforward flag
differential	10.06% <66.66%> (?)
total	28.30% <ø> (+<0.01%)	⬆️	Carriedforward from fd7db7b

*This pull request uses carry forward flags. Click here to find out more.

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[TomohitoAndo]

PR for autoware_launch:

• feat(autoware_behavior_velocity_traffic_light_module): adjust velocity threshold for ensure stop at yellow light autoware_launch#1322

[TomohitoAndo]

LGTM