feat(intersection): ignore high curvature lane occlusion

[soblin]

Description

For occlusion detection, the lanelets whose maximum curvature is higher than the threshold are not used.

TODO: trim part of lanelet with low curvature

Related links

https://tier4.atlassian.net/browse/RT1-3949
launcher PR: autowarefoundation/autoware_launch#619

Tests performed

Psim

left turn with straghit attention lanes

right turn with curved attention lanes

curved lanelet is not used as the occlusion detection area (pink)

Notes for reviewers

Interface changes

none.

Effects on system behavior

none.

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[codecov]

Codecov Report

Attention: 26 lines in your changes are missing coverage. Please review.

Comparison is base (5fed746) 14.79% compared to head (fe13810) 14.79%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5223      +/-   ##
==========================================
- Coverage   14.79%   14.79%   -0.01%     
==========================================
  Files        1648     1648              
  Lines      113928   113954      +26     
  Branches    35072    35094      +22     
==========================================
  Hits        16860    16860              
- Misses      78145    78166      +21     
- Partials    18923    18928       +5     

Flag	Coverage Δ		*Carryforward flag
differential	6.39% <0.00%> (?)
total	14.79% <ø> (+<0.01%)	⬆️	Carriedforward from 5fed746

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

Files	Coverage Δ
...ity_intersection_module/src/scene_intersection.hpp	0.00% <ø> (ø)
...ior_velocity_intersection_module/src/util_type.hpp	0.00% <ø> (ø)
...ity_intersection_module/src/scene_intersection.cpp	0.00% <0.00%> (ø)
...ehavior_velocity_intersection_module/src/debug.cpp	0.00% <0.00%> (ø)
...avior_velocity_intersection_module/src/manager.cpp	16.31% <0.00%> (-0.28%)	⬇️
...behavior_velocity_intersection_module/src/util.cpp	0.00% <0.00%> (ø)

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