feat(avoidance): change object_check_backward_distance from 100m to 1…

…0m (autowarefoundation#388)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

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

@@ -0,0 +1,167 @@
+# see AvoidanceParameters description in avoidance_module_data.hpp for description.
+/**:
+  ros__parameters:
+    avoidance:
+      resample_interval_for_planning: 0.3               # [m]
+      resample_interval_for_output: 4.0                 # [m]
+      detection_area_right_expand_dist: 0.0             # [m]
+      detection_area_left_expand_dist: 1.0              # [m]
+      drivable_area_right_bound_offset: 0.0             # [m]
+      drivable_area_left_bound_offset: 0.0              # [m]
+
+      # avoidance module common setting
+      enable_bound_clipping: false
+      enable_avoidance_over_same_direction: true
+      enable_avoidance_over_opposite_direction: true
+      enable_update_path_when_object_is_gone: false
+      enable_force_avoidance_for_stopped_vehicle: false
+      enable_safety_check: true
+      enable_yield_maneuver: true
+      enable_yield_maneuver_during_shifting: false
+      disable_path_update: false
+      use_hatched_road_markings: false
+
+      # for debug
+      publish_debug_marker: false
+      print_debug_info: false
+
+      # avoidance is performed for the object type with true
+      target_object:
+        car:
+          enable: true                                 # [-]
+          max_expand_ratio: 0.0                        # [-]
+          envelope_buffer_margin: 0.3                  # [m]
+          safety_buffer_lateral: 0.7                   # [m]
+          safety_buffer_longitudinal: 0.0              # [m]
+        truck:
+          enable: true
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        bus:
+          enable: true
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        trailer:
+          enable: true
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        unknown:
+          enable: false
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        bicycle:
+          enable: false
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.8
+          safety_buffer_lateral: 1.0
+          safety_buffer_longitudinal: 1.0
+        motorcycle:
+          enable: false
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.8
+          safety_buffer_lateral: 1.0
+          safety_buffer_longitudinal: 1.0
+        pedestrian:
+          enable: false
+          max_expand_ratio: 0.0
+          envelope_buffer_margin: 0.8
+          safety_buffer_lateral: 1.0
+          safety_buffer_longitudinal: 1.0
+        lower_distance_for_polygon_expansion: 30.0      # [m]
+        upper_distance_for_polygon_expansion: 100.0     # [m]
+
+      # For target object filtering
+      target_filtering:
+        # filtering moving objects
+        threshold_speed_object_is_stopped: 1.0          # [m/s]
+        threshold_time_object_is_moving: 1.0            # [s]
+        threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s]
+        # detection range
+        object_ignore_distance_traffic_light: 30.0      # [m]
+        object_ignore_distance_crosswalk_forward: 30.0  # [m]
+        object_ignore_distance_crosswalk_backward: 30.0 # [m]
+        object_check_forward_distance: 150.0            # [m]
+        object_check_backward_distance: 10.0            # [m]
+        object_check_goal_distance: 20.0                # [m]
+        # filtering parking objects
+        threshold_distance_object_is_on_center: 1.0     # [m]
+        object_check_shiftable_ratio: 0.6               # [-]
+        object_check_min_road_shoulder_width: 0.5       # [m]
+        # lost object compensation
+        object_last_seen_threshold: 2.0
+
+      # For safety check
+      safety_check:
+        safety_check_backward_distance: 100.0            # [m]
+        safety_check_time_horizon: 10.0                  # [s]
+        safety_check_idling_time: 1.5                    # [s]
+        safety_check_accel_for_rss: 2.5                  # [m/ss]
+        safety_check_hysteresis_factor: 2.0              # [-]
+
+      # For avoidance maneuver
+      avoidance:
+        # avoidance lateral parameters
+        lateral:
+          lateral_collision_margin: 1.0                 # [m]
+          lateral_execution_threshold: 0.499            # [m]
+          lateral_small_shift_threshold: 0.101          # [m]
+          road_shoulder_safety_margin: 0.3              # [m]
+          max_right_shift_length: 5.0
+          max_left_shift_length: 5.0
+        # avoidance distance parameters
+        longitudinal:
+          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]
+
+      # For yield maneuver
+      yield:
+        yield_velocity: 2.78                            # [m/s]
+
+      # For stop maneuver
+      stop:
+        min_distance: 10.0                              # [m]
+        max_distance: 20.0                              # [m]
+
+      constraints:
+        # vehicle slows down under longitudinal constraints
+        use_constraints_for_decel: false                # [-]
+
+        # lateral constraints
+        lateral:
+          nominal_lateral_jerk: 0.2                     # [m/s3]
+          max_lateral_jerk: 1.0                         # [m/s3]
+
+        # longitudinal constraints
+        longitudinal:
+          nominal_deceleration: -1.0                    # [m/ss]
+          nominal_jerk: 0.5                             # [m/sss]
+          max_deceleration: -2.0                        # [m/ss]
+          max_jerk: 1.0
+          # For prevention of large acceleration while avoidance
+          min_avoidance_speed_for_acc_prevention: 3.0   # [m/s]
+          max_avoidance_acceleration: 0.5               # [m/ss]
+
+      target_velocity_matrix:
+        col_size: 2
+        matrix:
+          [2.78, 13.9,                                  # velocity [m/s]
+           0.50, 1.00]                                  # margin [m]
+
+      shift_line_pipeline:
+        trim:
+          quantize_filter_threshold: 0.2
+          same_grad_filter_1_threshold: 0.1
+          same_grad_filter_2_threshold: 0.2
+          same_grad_filter_3_threshold: 0.5
+          sharp_shift_filter_threshold: 0.2