hotfix(avoidance): cherry pick (#523)

* feat(avoidance): can set stop/move judge threshold for each object class (#399)

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

* feat(avoidance): avoid non car-like object (pedestrian, bicycle, motorcycle) (#408)

feat(avoidance): avoid non vehicle object

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

* feat(avoidance): change object_check_backward_distance from 100m to 10m (#388)

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

* feat(avoidance): tune shift line filter for small shift

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

* feat(avoidance): decel under constraints

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

---------

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

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

@@ -29,48 +29,64 @@
       target_object:
         car:
           enable: true                                 # [-]
+          moving_speed_threshold: 1.0                  # [m/s]
+          moving_time_threshold: 1.0                   # [s]
           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
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
           enable: true
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
           enable: true
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
           enable: false
+          moving_speed_threshold: 0.28                 # 1.0km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.3
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
-          enable: false
+          enable: true
+          moving_speed_threshold: 0.28                 # 1.0km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
-          enable: false
+          enable: true
+          moving_speed_threshold: 1.0                  # 3.6km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
-          enable: false
+          enable: true
+          moving_speed_threshold: 0.28                 # 1.0km/h
+          moving_time_threshold: 1.0
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.8
           safety_buffer_lateral: 1.0
@@ -81,15 +97,13 @@
       # 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: 1.0 # [s]
         # detection range
         object_ignore_distance_traffic_light: 70.0      # [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: 100.0           # [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]
@@ -111,8 +125,8 @@
         # avoidance lateral parameters
         lateral:
           lateral_collision_margin: 1.0                 # [m]
-          lateral_execution_threshold: 0.399            # [m]
-          lateral_small_shift_threshold: 0.101          # [m]
+          lateral_execution_threshold: 0.09             # [m]
+          lateral_small_shift_threshold: 0.501          # [m]
           road_shoulder_safety_margin: 0.3              # [m]
           max_right_shift_length: 5.0
           max_left_shift_length: 5.0
@@ -135,7 +149,7 @@
 
       constraints:
         # vehicle slows down under longitudinal constraints
-        use_constraints_for_decel: false                # [-]
+        use_constraints_for_decel: true                 # [-]
 
         # lateral constraints
         lateral:
@@ -160,7 +174,7 @@
 
       shift_line_pipeline:
         trim:
-          quantize_filter_threshold: 0.2
+          quantize_filter_threshold: 0.1
           same_grad_filter_1_threshold: 0.1
           same_grad_filter_2_threshold: 0.2
           same_grad_filter_3_threshold: 0.5