feat(behavior_velocity): add velocity smoother to behavior velocity

[taikitanaka3]

Related Issue(required)

#258
#383

Description(required)

• add stop line at the end
  move stop line module before occlusion spot here
• add external velocity limit not to exceed limit velocity
  chore: sync awf/autoware_launch tier4/autoware_launch#238
• ttc calculation and enable pass judge
  use velocity smoother in this PR

smooth method is below

1. path to traj
2. external_v_limit (default)
3. lateral acc filter
4. lerp ego cloesest
5. resample
6. smooth
7. concat
8. traj to path

pass_judge option is going to be enable for this PR "smooth_velocity" is available

      detection_method: "occupancy_grid" # [-] candidate is "occupancy_grid" or "predicted_object"
      pass_judge: "current_velocity"       # [-] candidate is "current_velocity" or "smooth_velocity"

Review Procedure(required)

• test in experiment at kashiwanoha

Review Procedure(required)

• launch psim
• test using real vehicle is necessary

with #497

occlusion-2022-03-16_11.49.23.mp4

occlusion-2022-03-16_11.58.45.mp4

Related PR(optional)

FYI: @TakaHoribe

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[taikitanaka3]

move module order to insert stop line at the end before calculation of ttc.

[codecov]

Codecov Report

Merging #497 (e11b4a7) into main (90ee0ae) will decrease coverage by 0.04%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main     #497      +/-   ##
==========================================
- Coverage   10.72%   10.68%   -0.05%     
==========================================
  Files         729      730       +1     
  Lines       51118    51337     +219     
  Branches     6596     6596              
==========================================
  Hits         5484     5484              
- Misses      41174    41393     +219     
  Partials     4460     4460              

Flag	Coverage Δ		*Carryforward flag
differential	6.44% <0.00%> (?)
total	10.72% <0.00%> (ø)		Carriedforward from 90ee0ae

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

Impacted Files	Coverage Δ
...include/behavior_velocity_planner/planner_data.hpp	0.00% <ø> (ø)
...y_planner/include/utilization/trajectory_utils.hpp	0.00% <0.00%> (ø)
planning/behavior_velocity_planner/src/node.cpp	0.00% <0.00%> (ø)
..._planner/src/scene_module/occlusion_spot/debug.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/scene_occlusion_spot.cpp	0.00% <0.00%> (ø)

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[taikitanaka3]

7cd692a

until is previous PR of refactoring.#528

[mkuri]

I checked how the smoother is generated and how each member functions are used.
LGTM