feat(lane_change): using frenet planner to generate lane change path when ego near terminal (#1290)

* add parameter for enabling frenet

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

* parameterized th_yaw_diff

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

* prepare segment curvature threshold

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

* add curvature smoothing

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

---------

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

Author: zulfaqar-azmi-t4

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

@@ -29,6 +29,7 @@
         lon_acc_sampling_num: 5
         lat_acc_sampling_num: 3
         lane_changing_decel_factor: 0.5
+        th_prepare_curvature: 0.03 # [/]
 
       # delay lane change
       delay_lane_change:
@@ -37,6 +38,12 @@
         min_road_shoulder_width: 0.5  # [m]
         th_parked_vehicle_shift_ratio: 0.6
 
+      # trajectory generation near terminal using frenet planner
+      frenet:
+        enable: true
+        th_yaw_diff: 10.0  # [deg]
+        th_curvature_smoothing: 0.1 # [/]
+
       # safety check
       safety_check:
         allow_loose_check_for_cancel: true