feat(intersection): consider amber traffic signal for collision detection level

[takayuki5168]

Description

Currently, the collision detection margin is prepared for the case where the traffic signal is green and red.
For more efficient intersection behavior, this PR added a collision detection margin for amber color.

Three traffic protected levels are defined.

• fully protected
  • The target lane's traffic signal is red or the ego's traffic signal has an arrow.
• partially protected
  • The target lane's traffic signal is amber
• unprotected
  • The target lane's traffic signal is green

https://star4.slack.com/archives/C03QW0GU6P7/p1695379403867969?thread_ts=1695378610.532759&cid=C03QW0GU6P7

Tests performed

psim

Effects on system behavior

More efficient intersection behavior considering amber traffic signal.

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.08% ⚠️

Comparison is base (9402bb5) 15.77% compared to head (fc3d783) 15.70%.
Report is 107 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5096      +/-   ##
==========================================
- Coverage   15.77%   15.70%   -0.08%     
==========================================
  Files        1584     1584              
  Lines      109568   110415     +847     
  Branches    33728    34337     +609     
==========================================
+ Hits        17286    17336      +50     
- Misses      73656    74330     +674     
- Partials    18626    18749     +123     

Flag	Coverage Δ		*Carryforward flag
differential	6.73% <0.00%> (?)
total	15.78% <ø> (+<0.01%)	⬆️	Carriedforward from b81bd1a

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

Files Changed	Coverage Δ
...avior_velocity_intersection_module/src/manager.cpp	17.80% <0.00%> (-0.77%)	⬇️
...ity_intersection_module/src/scene_intersection.cpp	0.00% <0.00%> (ø)
...ity_intersection_module/src/scene_intersection.hpp	0.00% <ø> (ø)
...behavior_velocity_intersection_module/src/util.cpp	0.00% <0.00%> (ø)
...ior_velocity_intersection_module/src/util_type.hpp	0.00% <0.00%> (ø)

... and 4 files with indirect coverage changes

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[soblin]

LGTM