chore(planning_launch): change detection method for run_out to Points (…

…autowarefoundation#154)

* chore(planning_launch): change detection method for run_out to Points

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* change specify_decel_jerk to true

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

* change stop threshold to 1e-3

Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml

@@ -1,12 +1,12 @@
 /**:
   ros__parameters:
     run_out:
-      detection_method: "Object"  # [-] candidate: Object, ObjectWithoutPath, Points
+      detection_method: "Points"  # [-] candidate: Object, ObjectWithoutPath, Points
       use_partition_lanelet: true # [-] whether to use partition lanelet map data
-      specify_decel_jerk: false   # [-] whether to specify jerk when ego decelerates
+      specify_decel_jerk: true    # [-] whether to specify jerk when ego decelerates
       stop_margin: 2.5            # [m] the vehicle decelerates to be able to stop with this margin
       passing_margin: 1.1         # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin
-      deceleration_jerk: -0.3     # [m/s^3] ego decelerates with this jerk when stopping for obstacles
+      deceleration_jerk: -0.1     # [m/s^3] ego decelerates with this jerk when stopping for obstacles
       obstacle_velocity_kph: 5.0  # [km/h] assumption for obstacle velocity
       detection_distance: 45.0    # [m] ahead distance from ego to detect the obstacles
       detection_span: 1.0         # [m] calculate collision with this span to reduce calculation time
@@ -31,10 +31,10 @@
 
       # approach if ego has stopped in the front of the obstacle for a certain amount of time
       approaching:
-        enable: false
+        enable: true
         margin: 0.0           # [m] distance on how close ego approaches the obstacle
         limit_vel_kmph: 3.0   # [km/h] limit velocity for approaching after stopping
-        stop_thresh: 0.01     # [m/s] threshold to decide if ego is stopping
+        stop_thresh: 0.001     # [m/s] threshold to decide if ego is stopping
         stop_time_thresh: 3.0 # [sec] threshold for stopping time to transit to approaching state
         dist_thresh: 0.5      # [m] end the approaching state if distance to the obstacle is longer than stop_margin + dist_thresh