fix(behavior_velocity_planner): fix stuck vehicle handling when going straight

[soblin]

Description

Due to recent changes of the definition of right of way, intersection module was ignoring stuck vehicle ahead of the straight lane.

Tests performed

The ego vehicle stops in this scenario as shown in the video.

fix_stuck_handling_staright-2022-10-28_15.43.25.mp4

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[codecov]

Codecov Report

Base: 10.85% // Head: 10.83% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (3071d86) compared to base (4d92d1c).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2105      +/-   ##
==========================================
- Coverage   10.85%   10.83%   -0.02%     
==========================================
  Files        1177     1177              
  Lines       84265    84403     +138     
  Branches    19945    20044      +99     
==========================================
  Hits         9148     9148              
- Misses      65405    65523     +118     
- Partials     9712     9732      +20     

Flag	Coverage Δ		*Carryforward flag
differential	4.24% <0.00%> (?)
total	10.83% <0.00%> (ø)		Carriedforward from 4d92d1c

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

Impacted Files	Coverage Δ
...c/scene_module/intersection/scene_intersection.cpp	0.00% <0.00%> (ø)
...ity_planner/src/scene_module/intersection/util.cpp	0.00% <0.00%> (ø)

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[1222-takeshi]

I tested, looks good.

before

after

[soblin]

@kyoichi-sugahara @taikitanaka3 Can u please approve this change as code owner ?

[kyoichi-sugahara]

LGTM