refactor(behavior_velocity): occlusion spot merge scene modules

[taikitanaka3]

Related Issue(required)

#258

Description(required)

This PR is going to change

• merge scene modules into one.
• refactor for adding velocity smoother feat(behavior_velocity): add velocity smoother to behavior velocity #497
• move detection area creation to util
• replace function with tier4 autoware utils

pass_judge option is going to be enable for velocity smoother PR #497 currently "smooth_velocity" is not available

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

This PR is NOT going to change

• adding new features or adding new files
• parameter change

Review Procedure(required)

• make sure behavior is the same as before. below option should be tested

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

• test in experiment at kashiwanoha

with #497

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

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

Related PR(optional)

#497

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[codecov]

Codecov Report

Merging #528 (603cb9c) into main (fa2bca8) will decrease coverage by 5.13%.
The diff coverage is 0.00%.

@@            Coverage Diff            @@
##             main    #528      +/-   ##
=========================================
- Coverage   10.97%   5.83%   -5.14%     
=========================================
  Files         705      68     -637     
  Lines       49781    4954   -44827     
  Branches     7119     683    -6436     
=========================================
- Hits         5462     289    -5173     
+ Misses      39933    4527   -35406     
+ Partials     4386     138    -4248     

Impacted Files	Coverage Δ
...er/include/scene_module/occlusion_spot/manager.hpp	0.00% <ø> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	40.00% <0.00%> (ø)
...vior_velocity_planner/include/utilization/util.hpp	5.88% <0.00%> (-2.12%)	⬇️
..._planner/src/scene_module/occlusion_spot/debug.cpp	0.00% <0.00%> (ø)
...ner/src/scene_module/occlusion_spot/grid_utils.cpp	23.71% <0.00%> (ø)
...lanner/src/scene_module/occlusion_spot/manager.cpp	0.00% <0.00%> (ø)
...ene_module/occlusion_spot/occlusion_spot_utils.cpp	9.72% <0.00%> (-0.50%)	⬇️
..._module/occlusion_spot/risk_predictive_braking.cpp	48.38% <ø> (-2.32%)	⬇️
...ene_module/occlusion_spot/scene_occlusion_spot.cpp	0.00% <0.00%> (ø)
...behavior_velocity_planner/src/utilization/util.cpp	27.23% <0.00%> (-9.97%)	⬇️
... and 639 more

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[yukkysaito]

@taikitanaka3 Is the detection area supposed to use smoother results?

[taikitanaka3]

@yukkysaito
create detection area polygon only converts velocity in path so it can convert any path point velocity such as

• current velocity into path(only consider v0)
• velocity of constant acceleration in path( v0 + a0 * t or whatever)
  in this PR current velocity is applied to path to make detection area.

However with PR #497

• velocity of smoothed path consider external velocity limit
  is available as an option.

[yukkysaito]

velocity is applied to path to make detection area.

@taikitanaka3
In this PR, are you using the maximum velocity that is in the path and v0,a0?

[taikitanaka3]

@yukkysaito
in this PR there is no function change as described in PR so current velcity is only available

• current velocity into path(only consider v0)

[taikitanaka3]

make sure behavior is same as before(current velocity = rectangle polygon)

[taikitanaka3]

• release note