feat(avoidance): update avoidance params for target object detection

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -2,49 +2,50 @@
 /**:
   ros__parameters:
     avoidance:
-      resample_interval_for_planning: 0.3
-      resample_interval_for_output: 4.0
-      detection_area_right_expand_dist: 0.0
-      detection_area_left_expand_dist: 1.0
-
-      enable_avoidance_over_same_direction: true
-      enable_avoidance_over_opposite_direction: true
-
-      threshold_distance_object_is_on_center: 1.0 # [m]
-      threshold_speed_object_is_stopped: 1.0      # [m/s]
-      object_check_forward_distance: 150.0        # [m]
-      object_check_backward_distance: 2.0         # [m]
-      lateral_collision_margin: 1.0               # [m]
-      lateral_collision_safety_buffer: 0.7        # [m]
-
-      prepare_time: 2.0                           # [s]
-      min_prepare_distance: 1.0                   # [m]
-      min_avoidance_distance: 10.0                # [m]
-
-      min_nominal_avoidance_speed: 7.0  # [m/s]
-      min_sharp_avoidance_speed: 1.0    # [m/s]
-
-      road_shoulder_safety_margin: 0.5 # [m]
-
-      max_right_shift_length: 5.0
-      max_left_shift_length: 5.0
-
-      nominal_lateral_jerk: 0.2   # [m/s3]
-      max_lateral_jerk: 1.0       # [m/s3]
-
-      object_hold_max_count: 20
+      # For module common params
+      resample_interval_for_planning: 0.3             # [m]
+      resample_interval_for_output: 4.0               # [m]
+      enable_avoidance_over_same_direction: true      # [-]
+      enable_avoidance_over_opposite_direction: true  # [-]
+
+      # For avoidance target detection
+      detection_area_right_expand_dist: 0.0           # [m]
+      detection_area_left_expand_dist: 1.0            # [m]
+      threshold_distance_object_is_on_center: 1.0     # [m]
+      threshold_speed_object_is_stopped: 1.0          # [m/s]
+      threshold_time_object_is_moving: 1.0            # [s]
+      object_check_forward_distance: 150.0            # [m]
+      object_check_backward_distance: 2.0             # [m]
+      object_check_overhang: 1.0                      # [m]
+      object_check_yaw: 0.52                          # [rad]
+      object_check_road_shoulder_ratio: 0.5           # [-]
+      object_last_seen_threshold: 2.0                 # [s]
+
+      # For shift point generation
+      lateral_collision_margin: 1.0                   # [m]
+      lateral_collision_safety_buffer: 0.7            # [m]
+      prepare_time: 2.0                               # [s]
+      min_prepare_distance: 1.0                       # [m]
+      min_avoidance_distance: 10.0                    # [m]
+      min_nominal_avoidance_speed: 7.0                # [m/s]
+      min_sharp_avoidance_speed: 1.0                  # [m/s]
+      road_shoulder_safety_margin: 0.0                # [m]
+      max_right_shift_length: 5.0                     # [m]
+      max_left_shift_length: 5.0                      # [m]
+      nominal_lateral_jerk: 0.2                       # [m/s3]
+      max_lateral_jerk: 1.0                           # [m/s3]
 
       # For prevention of large acceleration while avoidance
-      min_avoidance_speed_for_acc_prevention: 3.0  # [m/s]
-      max_avoidance_acceleration: 0.5  # [m/ss]
+      min_avoidance_speed_for_acc_prevention: 3.0     # [m/s]
+      max_avoidance_acceleration: 0.5                 # [m/s2]
 
       # for debug
       publish_debug_marker: false
       print_debug_info: false
 
       # not enabled yet
-      longitudinal_collision_margin_min_distance: 0.0          # [m]
-      longitudinal_collision_margin_time: 0.0
+      longitudinal_collision_margin_min_distance: 0.0 # [m]
+      longitudinal_collision_margin_time: 0.0         # [s]
 
       # avoidance is performed for the object type with true
       target_object:
@@ -58,4 +59,4 @@
         pedestrian: false
 
       # ---------- advanced parameters ----------
-      avoidance_execution_lateral_threshold: 0.499
+      avoidance_execution_lateral_threshold: 0.499    # [m]