feat(intersection): disable peeking while collision is detected

[soblin]

Description

When occlusion and collision is detected at the same time, peeking for occlusion clearance is not executed.

Related links

https://tier4.atlassian.net/browse/RT1-2242

Tests performed

Before this PR

Before this PR

at [00:06] ego does not stop at the intersection stopline

before_PR.mp4

After this PR

ego keeps stopping until the oncoming cars pass through the junction.

2023-05-22_18.59.38.mp4

Notes for reviewers

Interface changes

Not applicable.

Effects on system behavior

Not applicable.

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[codecov]

Codecov Report

Patch and project coverage have no change.

Comparison is base (a9da72e) 14.13% compared to head (9f6dfce) 14.13%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #3765   +/-   ##
=======================================
  Coverage   14.13%   14.13%           
=======================================
  Files        1438     1438           
  Lines      101342   101338    -4     
  Branches    27015    27008    -7     
=======================================
  Hits        14321    14321           
+ Misses      71332    71328    -4     
  Partials    15689    15689           

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.13% <ø> (+<0.01%)	⬆️	Carriedforward from a9da72e

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

Impacted Files	Coverage Δ
planning/behavior_path_planner/src/utils/utils.cpp	17.26% <ø> (+0.12%)	⬆️
...avior_velocity_intersection_module/src/manager.cpp	0.00% <0.00%> (ø)
...ity_intersection_module/src/scene_intersection.cpp	0.00% <0.00%> (ø)
...ity_intersection_module/src/scene_intersection.hpp	0.00% <ø> (ø)

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