feat(planning_launch): update params for new crosswalk module

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

@@ -1,14 +1,43 @@
 /**:
   ros__parameters:
     crosswalk:
-      crosswalk:
-        stop_line_distance: 1.5 # make stop line away from crosswalk when no explicit stop line exists
-        stop_margin: 1.0
-        slow_margin: 2.0
-        slow_velocity: 2.76 # 2.76 m/s = 10.0 kmph
-        stop_predicted_object_prediction_time_margin: 3.0
-
-      walkway:
-        stop_line_distance: 1.5 # make stop line away from walkway when no explicit stop line exists
-        stop_margin: 1.0
-        stop_duration_sec: 1.0
+      show_processing_time: false # [-] whether to show processing time
+
+      # param for stop position
+      stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists
+      stop_line_margin: 10.0 # [m] if objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_margin meters before the object)
+      stop_margin: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+      stop_position_threshold: 1.0 # [m] threshold for check whether the vehicle stop in front of crosswalk
+
+      # param for ego velocity
+      slow_velocity: 2.78 # [m/s] target vehicle velocity when module receive slow down command from FOA (2.78 m/s = 10.0 kmph)
+      max_slow_down_jerk: -1.5 # [m/sss] minimum jerk deceleration for safe brake
+      max_slow_down_accel: -2.5 # [m/ss] minimum accel deceleration for safe brake
+      no_relax_velocity: 2.78 # [m/s] if the current velocity is less than X m/s, ego always stops at the stop position(not relax deceleration constraints 2.78 m/s = 10 kmph)
+
+      # param for stuck vehicle
+      stuck_vehicle_velocity: 1.0 # [m/s] maximum velocity threshold whether the vehicle is stuck
+      max_lateral_offset: 2.0 # [m] maximum lateral offset for stuck vehicle position should be looked
+      stuck_vehicle_attention_range: 10.0 # [m] the detection area is defined as X meters behind the crosswalk
+
+      # param for pass judge logic
+      ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+      ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+      stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)
+      min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph)
+      max_yield_timeout: 3.0 # [s] if the pedestrian does not move for X seconds after stopping before the crosswalk, the module judge that ego is able to pass first.
+
+      # param for input data
+      tl_state_timeout: 3.0 # [s] timeout threshold for traffic light signal
+
+      # param for target area & object
+      crosswalk_attention_range: 1.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk
+      target_object:
+        unknown: true # [-] whether to look and stop by UNKNOWN objects
+        bicycle: true # [-] whether to look and stop by BICYCLE objects
+        motorcycle: true # [-] whether to look and stop by MOTORCYCLE objects (tmp: currently it is difficult for perception modules to detect bicycles and motorcycles separately.)
+        pedestrian: true # [-] whether to look and stop by PEDESTRIAN objects
+
+    walkway:
+      stop_duration_sec: 1.0 # [s] stop time at stop position
+      stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists