Merge branch 'main' into feat/improve_shape_unstable_object_tracking

Author: linick-kang

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

@@ -7,6 +7,7 @@
         attention_area_angle_threshold: 0.785
         use_intersection_area: false
         default_stopline_margin: 3.0
+        pass_judge_line_margin: 0.0
         stopline_overshoot_margin: 0.5
         path_interpolation_ds: 0.1
         max_accel: -2.8

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml

@@ -32,6 +32,7 @@
         keep_condition:  # keep the stop decision if we still find any collision with the object within some time+distance range
           time: 5.0  # [s] time along the ego trajectory
           distance: 10.0  # [m] distance along the ego trajectory
+        reuse_margin: 5.0 # [m] the previous stop pose is reused if it is positioned before the newly calculated stop pose and their arc length difference is smaller than this margin
 
       ego:
         # additional margins to calculate the ego footprint used for collision detection