feat(behavior_path_planner): tune for short distance lane change (aut…

…owarefoundation#354)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com>
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>

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

@@ -7,9 +7,9 @@
       backward_length_buffer_for_end_of_lane: 0.5 # [m]
       lane_change_finish_judge_buffer: 0.0      # [m]
 
-      lane_changing_lateral_jerk: 0.5              # [m/s3]
+      lane_changing_lateral_jerk: 0.75             # [m/s3]
 
-      minimum_lane_changing_velocity: 0.75        # [m/s]
+      minimum_lane_changing_velocity: 1.0         # [m/s]
       prediction_time_resolution: 0.5           # [s]
       longitudinal_acceleration_sampling_num: 5
       lateral_acceleration_sampling_num: 3
@@ -30,7 +30,7 @@
       lateral_acceleration:
         velocity: [0.0, 4.0, 10.0]
         min_values: [0.15, 0.15, 0.15]
-        max_values: [0.75, 0.75, 0.75]
+        max_values: [1.25, 1.25, 1.25]
 
       # target object
       target_object: