fix(avoidance): tuning avoidance parameters for J6

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

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml

@@ -30,47 +30,47 @@
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
           lateral_margin:
-            soft_margin: 1.0                           # [m]
-            hard_margin: 0.1                           # [m]
-            hard_margin_for_parked_vehicle: 0.1        # [m]
+            soft_margin: 0.2                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0                        # [-]
-          envelope_buffer_margin: 0.3                  # [m]
+          envelope_buffer_margin: 0.1                  # [m]
           safety_buffer_longitudinal: 0.0              # [m]
           use_conservative_buffer_longitudinal: false  # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance.
         truck:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           lateral_margin:
-            soft_margin: 1.0                           # [m]
-            hard_margin: 0.4                           # [m]
-            hard_margin_for_parked_vehicle: 0.4        # [m]
+            soft_margin: 0.2                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.3
+          envelope_buffer_margin: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: false
         bus:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           lateral_margin:
-            soft_margin: 0.0                           # [m]
-            hard_margin: 0.8                           # [m]
-            hard_margin_for_parked_vehicle: 0.8        # [m]
+            soft_margin: 0.2                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.3
+          envelope_buffer_margin: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: false
         trailer:
           execute_num: 1
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           lateral_margin:
-            soft_margin: 0.0                           # [m]
-            hard_margin: 0.8                           # [m]
-            hard_margin_for_parked_vehicle: 0.8        # [m]
+            soft_margin: 0.2                           # [m]
+            hard_margin: 0.2                           # [m]
+            hard_margin_for_parked_vehicle: 0.7        # [m]
           max_expand_ratio: 0.0
-          envelope_buffer_margin: 0.3
+          envelope_buffer_margin: 0.1
           safety_buffer_longitudinal: 0.0
           use_conservative_buffer_longitudinal: false
         unknown:
@@ -233,7 +233,7 @@
         longitudinal:
           min_prepare_time: 1.0                         # [s]
           max_prepare_time: 2.0                         # [s]
-          min_prepare_distance: 1.0                     # [m]
+          min_prepare_distance: 4.0                     # [m]
           min_slow_down_speed: 1.38                     # [m/s]
           buf_slow_down_speed: 0.56                     # [m/s]
           nominal_avoidance_speed: 8.33                 # [m/s]
@@ -266,31 +266,31 @@
         #                but there is a possibility that the vehicle can't stop in front of the vehicle.
         # "reliable": insert stop or slow down point with ignoring decel/jerk constraints.
         #             make it possible to increase chance to avoid but uncomfortable deceleration maybe happen.
-        deceleration: "best_effort"                     # [-]
+        deceleration: "reliable"                        # [-]
         # policy for avoidance lateral margin. select "best_effort" or "reliable".
         # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal
         #                margin to avoid.
         # "reliable": module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid
         #             with expected lateral margin.
         lateral_margin: "best_effort"                   # [-]
         # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin.
-        use_shorten_margin_immediately: true            # [-]
+        use_shorten_margin_immediately: false           # [-]
 
       constraints:
         # lateral constraints
         lateral:
-          velocity: [1.0, 1.38, 11.1]                   # [m/s]
+          velocity: [2.78, 8.33, 11.1]                  # [m/s]
           max_accel_values: [0.5, 0.5, 0.5]             # [m/ss]
-          min_jerk_values: [0.1, 0.1, 0.2]              # [m/sss]
-          max_jerk_values: [0.2, 0.2, 1.0]              # [m/sss]
+          min_jerk_values: [0.2, 0.2, 0.2]              # [m/sss]
+          max_jerk_values: [0.5, 1.0, 1.0]              # [m/sss]
 
         # longitudinal constraints
         longitudinal:
           nominal_deceleration: -1.0                    # [m/ss]
           nominal_jerk: 0.5                             # [m/sss]
           max_deceleration: -1.5                        # [m/ss]
           max_jerk: 1.0                                 # [m/sss]
-          max_acceleration: 0.5                         # [m/ss]
+          max_acceleration: 0.3                         # [m/ss]
           min_velocity_to_limit_max_acceleration: 2.78  # [m/ss]
 
       shift_line_pipeline: