feat(time-based-safe-dist): add parameter to select between time-base…

…d and rss methods

Signed-off-by: Ahmed Ebrahim <ahmed.ebrahim@leodrive.ai>

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml

@@ -9,12 +9,13 @@
       enable_slow_down_planning: true
 
       # longitudinal info
+      safe_distance_method: "time_based" # currently supported safe distance calculation methods are "rss" and "time-based"
       idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s]
       min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss]
       min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss]
       safe_distance_margin : 6.0 # This is also used as a stop margin [m]
       terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m]
-      safe_distance_time_margin : 2.0 # This is used for time-based safe distance rule, e.g. 2-seconds rule, 3-seconds rules [s]
+      safe_distance_time_margin : 2.0 # This is used for time-based safe distance rule, e.g. 2-seconds rule, 3-seconds rule [s]
       hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s]
       hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m]
       slow_down_min_acc: -1.0         # slow down min deceleration [m/ss]