fix(autoware_behavior_path_start_planner_module): update parameter name for geometric pull out max steer angle

Signed-off-by: Kyoichi Sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

planning/behavior_path_planner/autoware_behavior_path_planner_common/include/autoware/behavior_path_planner_common/utils/parking_departure/geometric_parallel_parking.hpp

@@ -61,7 +61,7 @@ struct ParallelParkingParameters
   double pull_out_velocity{0.0};
   double pull_out_lane_departure_margin{0.0};
   double pull_out_arc_path_interval{0.0};
-  double pull_out_max_steer_angle{0.0};
+  double geometric_pull_out_max_steer_angle_margin_scale{0.0};
 };
 
 class GeometricParallelParking

planning/behavior_path_planner/autoware_behavior_path_start_planner_module/README.md

@@ -494,14 +494,14 @@ See also [[1]](https://www.sciencedirect.com/science/article/pii/S14746670153474
 
 #### parameters for geometric pull out
 
-| Name                                  | Unit  | Type   | Description                                                                                                                                               | Default value |
-| :------------------------------------ | :---- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
-| enable_geometric_pull_out             | [-]   | bool   | flag whether to enable geometric pull out                                                                                                                 | true          |
-| divide_pull_out_path                  | [-]   | bool   | flag whether to divide arc paths. The path is assumed to be divided because the curvature is not continuous. But it requires a stop during the departure. | false         |
-| geometric_pull_out_velocity           | [m/s] | double | velocity of geometric pull out                                                                                                                            | 1.0           |
-| lane_departure_margin                 | [m]   | double | margin of deviation to lane right                                                                                                                         | 0.2           |
-| lane_departure_check_expansion_margin | [m]   | double | margin to expand the ego vehicle footprint when doing lane departure checks                                                                               | 0.0           |
-| pull_out_max_steer_angle              | [rad] | double | maximum steer angle for path generation                                                                                                                   | 0.26          |
+| Name                                            | Unit  | Type   | Description                                                                                                                                               | Default value |
+| :---------------------------------------------- | :---- | :----- | :-------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------ |
+| enable_geometric_pull_out                       | [-]   | bool   | flag whether to enable geometric pull out                                                                                                                 | true          |
+| divide_pull_out_path                            | [-]   | bool   | flag whether to divide arc paths. The path is assumed to be divided because the curvature is not continuous. But it requires a stop during the departure. | false         |
+| geometric_pull_out_velocity                     | [m/s] | double | velocity of geometric pull out                                                                                                                            | 1.0           |
+| lane_departure_margin                           | [m]   | double | margin of deviation to lane right                                                                                                                         | 0.2           |
+| lane_departure_check_expansion_margin           | [m]   | double | margin to expand the ego vehicle footprint when doing lane departure checks                                                                               | 0.0           |
+| geometric_pull_out_max_steer_angle_margin_scale | [-]   | double | scaling factor applied to the maximum steering angle (max_steer_angle) defined in vehicle_info parameter                                                  | 0.72          |
 
 ## **backward pull out start point search**
 

planning/behavior_path_planner/autoware_behavior_path_start_planner_module/config/start_planner.param.yaml

@@ -43,7 +43,7 @@
       lane_departure_margin: 0.2
       lane_departure_check_expansion_margin: 0.0
       backward_velocity: -1.0
-      pull_out_max_steer_angle: 0.26  # 15deg
+      geometric_pull_out_max_steer_angle_margin_scale: 0.72
       # search start pose backward
       enable_back: true
       search_priority: "efficient_path"  # "efficient_path" or "short_back_distance"

planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/data_structs.cpp

@@ -84,8 +84,9 @@ StartPlannerParameters StartPlannerParameters::init(rclcpp::Node & node)
       get_or_declare_parameter<double>(node, ns + "lane_departure_margin");
     p.lane_departure_check_expansion_margin =
       get_or_declare_parameter<double>(node, ns + "lane_departure_check_expansion_margin");
-    p.parallel_parking_parameters.pull_out_max_steer_angle =
-      get_or_declare_parameter<double>(node, ns + "pull_out_max_steer_angle");  // 15deg
+    p.parallel_parking_parameters.geometric_pull_out_max_steer_angle_margin_scale =
+      get_or_declare_parameter<double>(
+        node, ns + "geometric_pull_out_max_steer_angle_margin_scale");
     p.parallel_parking_parameters.center_line_path_interval =
       p.center_line_path_interval;  // for geometric parallel parking
     // search start pose backward

planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/geometric_pull_out.cpp

@@ -65,9 +65,11 @@ std::optional<PullOutPath> GeometricPullOut::plan(
 
   // check if the ego is at left or right side of road lane center
   const bool left_side_start = 0 < getArcCoordinates(road_lanes, start_pose).distance;
+  const double max_steer_angle =
+    vehicle_info_.max_steer_angle *
+    parallel_parking_parameters_.geometric_pull_out_max_steer_angle_margin_scale;
 
-  planner_.setTurningRadius(
-    planner_data->parameters, parallel_parking_parameters_.pull_out_max_steer_angle);
+  planner_.setTurningRadius(planner_data->parameters, max_steer_angle);
   planner_.setPlannerData(planner_data);
   const bool found_valid_path = planner_.planPullOut(
     start_pose, goal_pose, road_lanes, pull_out_lanes, left_side_start, lane_departure_checker_);

planning/behavior_path_planner/autoware_behavior_path_start_planner_module/src/manager.cpp

@@ -127,8 +127,8 @@ void StartPlannerModuleManager::updateModuleParams(
       parameters, ns + "lane_departure_check_expansion_margin",
       p->lane_departure_check_expansion_margin);
     update_param<double>(
-      parameters, ns + "pull_out_max_steer_angle",
-      p->parallel_parking_parameters.pull_out_max_steer_angle);
+      parameters, ns + "geometric_pull_out_max_steer_angle_margin_scale",
+      p->parallel_parking_parameters.geometric_pull_out_max_steer_angle_margin_scale);
     update_param<bool>(parameters, ns + "enable_back", p->enable_back);
     update_param<double>(parameters, ns + "backward_velocity", p->backward_velocity);
     update_param<double>(