feat(obstacle_cruise_planner): add velocity_threshold to outside obstacle

[tkimura4]

Signed-off-by: tomoya.kimura tomoya.kimura@tier4.jp

Related Links

tier4/autoware_launch#447

Description

Add min velocity threshold parameter for ignoring slow obstacles outside the trajectory.

This parameter is useful, for example, for filtering slow vehicles on non-priority opossite lanes.
https://user-images.githubusercontent.com/59680180/185863373-be2ec6c9-0146-4b1e-a3d0-fd9e79af74a0.mp4

Note that this parameter also slows down the cut-in response for low-speed vehicles.

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[takayuki5168]

LGTM
I'll wait for a launch PR.

[codecov]

Codecov Report

Merging #1646 (cee196e) into main (1115898) will decrease coverage by 0.03%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1646      +/-   ##
==========================================
- Coverage   10.68%   10.64%   -0.04%     
==========================================
  Files        1109     1109              
  Lines       78629    78871     +242     
  Branches    18592    18592              
==========================================
  Hits         8398     8398              
- Misses      61318    61560     +242     
  Partials     8913     8913              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	10.66% <0.00%> (ø)		Carriedforward from f323228

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

Impacted Files	Coverage Δ
...er/include/scene_module/scene_module_interface.hpp	0.00% <0.00%> (ø)
...e_planner/include/obstacle_cruise_planner/node.hpp	0.00% <ø> (ø)
planning/obstacle_cruise_planner/src/node.cpp	0.00% <0.00%> (ø)

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