add parameters for clothoid parking

Signed-off-by: Takumi Ito <takumi.ito@tier4.jp>

Author: Takumi Ito

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

@@ -82,13 +82,16 @@
             forward_parking_lane_departure_margin: 0.0
             forward_parking_path_interval: 1.0
             forward_parking_max_steer_angle: 0.4  # 22.9deg
+            forward_parking_max_steer_angle: 0.35  # 20deg
+            forward_parking_use_clothoid: true
           backward:
             enable_arc_backward_parking: true
             after_backward_parking_straight_distance: 2.0
             backward_parking_velocity: -1.38
             backward_parking_lane_departure_margin: 0.0
             backward_parking_path_interval: 1.0
             backward_parking_max_steer_angle: 0.4  # 22.9deg
+            backward_parking_use_clothoid: true
 
         # freespace parking
         freespace_parking:

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

@@ -44,6 +44,7 @@
       lane_departure_check_expansion_margin: 0.0
       backward_velocity: -1.0
       pull_out_max_steer_angle: 0.4  # 22.9deg
+      pull_out_use_clothoid: true
       # search start pose backward
       enable_back: true
       search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"