feat(intersection): consider state transit margin time in collision detection

[soblin]

PR Type

• Improvement

Related Links

feature PR: autowarefoundation/autoware.universe#2719

https://tier4.atlassian.net/browse/T4PB-24144

Description

Improved collision detection to be more stable than before. Parameter values are mainly determined based on experiment.

Review Procedure

All scenarios passed without any retrial.

https://evaluation.tier4.jp/evaluation/reports/20c3d884-d33d-5361-a88a-953038dd13dc?project_id=prd_jt

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[takayuki5168]

LGTM

[takayuki5168]

@soblin Please make a PR to awf/autoware_launch as well.

[soblin]

@takayuki5168 PR to awf/autoware_launch is here: autowarefoundation/autoware_launch#181