feat(intersection): rectify initial accel/velocity profile in ego velocity profile

[soblin]

Description

I fixed calcIntersectionPassingTime to

• apply smoothPath to entire path and then extract part of path points around ego vehicle to calculate time-distance profile
• query stop line that is inserted from the upstream path

launcher PR: autowarefoundation/autoware_launch#677

Related links

Tests performed

evaluator: https://evaluation.tier4.jp/evaluation/reports/1fda8996-ef3a-5212-a330-087b50484408?project_id=prd_jt

Before this PR

chattering was happening

-2023-11-07_11.25.01.mp4

After this PR

PR5496-2023-11-08_17.34.51.mp4

Notes for reviewers

Interface changes

none.

Effects on system behavior

none.

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[codecov]

Codecov Report

Attention: 60 lines in your changes are missing coverage. Please review.

Comparison is base (df0b857) 14.79% compared to head (0fc38ad) 14.76%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5496      +/-   ##
==========================================
- Coverage   14.79%   14.76%   -0.03%     
==========================================
  Files        1684     1684              
  Lines      116851   116870      +19     
  Branches    36274    36280       +6     
==========================================
- Hits        17285    17260      -25     
- Misses      80061    80118      +57     
+ Partials    19505    19492      -13     

Flag	Coverage Δ		*Carryforward flag
differential	9.10% <0.00%> (?)
total	14.77% <0.00%> (-0.02%)	⬇️	Carriedforward from e02ec1b

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

Files	Coverage Δ
...lanner_common/src/utilization/trajectory_utils.cpp	0.00% <0.00%> (ø)
...behavior_velocity_intersection_module/src/util.cpp	0.00% <0.00%> (ø)

... and 6 files with indirect coverage changes

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[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-5496/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-5496/planning/behavior_velocity_intersection_module/