feat(planning_simulator): new parameters for lane change module

[zulfaqar-azmi-t4]

Signed-off-by: Muhammad Zulfaqar Azmi zulfaqar.azmi@tier4.jp

PR Type

• New Feature
• Improvement

Related Links

autowarefoundation/autoware.universe#1139
autowarefoundation/autoware.universe#1140

Description

Previous lane change logic checks the distance between ego to the object using l2Norm. However, some information lost might occurs for example the object is on the left or right etc.

The lane change module is currently revised internally to better handle the dynamic environment. Instead of using l2norm, the distance is separated into lateral distance evaluation and longitudinal distance evaluation. the longitudinal distance evaluation takes into account of collision via predicted path.

This PR aims to add the configuration that is related to the realization of the newly revised functions.

Review Procedure

1. rtc_auto_approval for right and left lane change needs to be disable
2. Run the PSIM.
3. Place ego starting position and goal. Goal must be on the adjacent lane to simulate lane change process.
4. Place an object on the target lane.
   
5. If ego is within object vicinity and there is potential of collision via predicted path comparison, no path appears.
   

Remarks

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[shmpwk]

LGTM!

[zulfaqar-azmi-t4]

Thank you very much Wakabayashi-san!