chore(static_obstacle_avoidance): beta/v4.0.2/avoidance param tuning (autowarefoundation#906)

* use_lane_type current_lane

* reflect tuning params(avoidance margin)

* use_lane_type same_direction_lane

Author: kotaro-hihara

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml

@@ -10,7 +10,7 @@
       # "current_lane"           : use only current lane. this module doesn't use adjacent lane to avoid object.
       # "same_direction_lane"    : this module uses same direction lane to avoid object if need.
       # "opposite_direction_lane": this module uses both same direction and opposite direction lane.
-      use_lane_type: "opposite_direction_lane"
+      use_lane_type: "same_direction_lane"
       # drivable area setting
       use_intersection_areas: true
       use_hatched_road_markings: true
@@ -23,8 +23,8 @@
           th_moving_time: 2.0                           # [s]
           longitudinal_margin: 0.0                      # [m]
           lateral_margin:
-            soft_margin: 0.7                            # [m]
-            hard_margin: 0.15                            # [m]
+            soft_margin: 0.5                            # [m]
+            hard_margin: 0.05                            # [m]
             hard_margin_for_parked_vehicle: 0.2         # [m]
           max_expand_ratio: 0.0                         # [-] FOR DEVELOPER
           envelope_buffer_margin: 0.1                   # [m] FOR DEVELOPER
@@ -34,8 +34,8 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
-            hard_margin: 0.15
+            soft_margin: 0.5
+            hard_margin: 0.05
             hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
@@ -45,8 +45,8 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
-            hard_margin: 0.15
+            soft_margin: 0.5
+            hard_margin: 0.05
             hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
@@ -56,8 +56,8 @@
           th_moving_time: 2.0
           longitudinal_margin: 0.0
           lateral_margin:
-            soft_margin: 0.7
-            hard_margin: 0.15
+            soft_margin: 0.5
+            hard_margin: 0.05
             hard_margin_for_parked_vehicle: 0.2
           max_expand_ratio: 0.0
           envelope_buffer_margin: 0.1
@@ -137,7 +137,7 @@
         # filtering parking objects
         parked_vehicle:
           th_offset_from_centerline: 1.0                # [m]
-          th_shiftable_ratio: 0.8                       # [-]
+          th_shiftable_ratio: 0.7                       # [-]
           min_road_shoulder_width: 0.5                  # [m] FOR DEVELOPER
 
         # for merging/deviating vehicle
@@ -220,8 +220,8 @@
         lateral:
           th_avoid_execution: 0.09                      # [m] FOR DEVELOPER
           th_small_shift_length: 0.101                  # [m] FOR DEVELOPER
-          soft_drivable_bound_margin: 0.3               # [m]
-          hard_drivable_bound_margin: 0.3               # [m]
+          soft_drivable_bound_margin: 0.5               # [m]
+          hard_drivable_bound_margin: 0.5               # [m]
           max_right_shift_length: 5.0                   # [m] FOR DEVELOPER
           max_left_shift_length: 5.0                    # [m] FOR DEVELOPER
           max_deviation_from_lane: 0.2                  # [m]