add params

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

autoware_launch/config/planning/preset/default_preset.yaml

@@ -5,7 +5,7 @@ launch:
       default: "true"
   - arg:
       name: launch_avoidance_by_lane_change_module
-      default: "true" #?
+      default: "true"
   - arg:
       name: launch_dynamic_avoidance_module
       default: "false"

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

@@ -40,11 +40,12 @@
           max_overtaking_object_angle: 1.05
           min_oncoming_object_vel: 1.0
           max_oncoming_object_angle: 0.523
+          max_pedestrians_crossing_vel: 1.5
 
         front_object:
           max_object_angle: 0.785
-          min_object_vel: -0.5               # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
-          max_ego_path_lat_cover_ratio: 0.3  # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
+          min_object_vel: -0.5 # [m/s] The value is negative considering the noisy velocity of the stopped vehicle.
+          max_ego_path_lat_cover_ratio: 0.3 # [-] The object will be ignored if the ratio of the object covering the ego's path is higher than this value.
 
         stopped_object:
           max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value.
@@ -55,23 +56,27 @@
           min_longitudinal_polygon_margin: 3.0 # [m]
 
         lat_offset_from_obstacle: 1.0 # [m]
+        margin_distance_around_pedestrian: 2.0 # [m]
+        predicted_path:
+          end_time_to_consider: 3.0 # [s]
+          threshold_confidence: 0.3 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]
         lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]
 
-        max_ego_lat_acc: 0.3        # [m/ss]
-        max_ego_lat_jerk: 0.3       # [m/sss]
-        delay_time_ego_shift: 1.0   # [s]
+        max_ego_lat_acc: 0.3 # [m/ss]
+        max_ego_lat_jerk: 0.3 # [m/sss]
+        delay_time_ego_shift: 1.0 # [s]
 
         # for same directional object
         overtaking_object:
           max_time_to_collision: 40.0 # [s]
-          start_duration_to_avoid: 1.0  # [s]
-          end_duration_to_avoid: 1.0  # [s]
+          start_duration_to_avoid: 1.0 # [s]
+          end_duration_to_avoid: 1.0 # [s]
           duration_to_hold_avoidance: 3.0 # [s]
 
         # for opposite directional object
         oncoming_object:
           max_time_to_collision: 40.0 # [s] This value should be the same as overtaking_object's one to suppress chattering of this value for parked vehicles
-          start_duration_to_avoid: 1.0  # [s]
-          end_duration_to_avoid: 0.0  # [s]
+          start_duration_to_avoid: 1.0 # [s]
+          end_duration_to_avoid: 0.0 # [s]