fix(intersection): detect stuck vehicle by position on detect area (#6689)

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

planning/behavior_velocity_intersection_module/src/scene_intersection_stuck.cpp

@@ -296,7 +296,10 @@ bool IntersectionModule::checkStuckVehicleInIntersection(
 
     // check if the footprint is in the stuck detect area
     const auto obj_footprint = tier4_autoware_utils::toPolygon2d(object);
-    const bool is_in_stuck_area = !bg::disjoint(obj_footprint, stuck_vehicle_detect_area);
+    // NOTE: in order not to stop too much
+    const bool is_in_stuck_area = bg::within(
+      to_bg2d(object.kinematics.initial_pose_with_covariance.pose.position),
+      stuck_vehicle_detect_area);
     if (is_in_stuck_area) {
       debug_data_.stuck_targets.objects.push_back(object);
       return true;