fix(safety_check): fix param name

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

planning/behavior_path_avoidance_module/config/avoidance.param.yaml

@@ -187,7 +187,7 @@
         time_horizon_for_rear_object: 10.0               # [s]
         delay_until_departure: 0.0                       # [s]
         # rss parameters
-        steering: "free"                                 # [-] select "fixed" or "free"
+        extended_polygon_policy: "along_path"            # [-] select "rectangle" or "along_path"
         expected_front_deceleration: -1.0                # [m/ss]
         expected_rear_deceleration: -1.0                 # [m/ss]
         rear_vehicle_reaction_time: 2.0                  # [s]

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp

@@ -223,7 +223,8 @@ AvoidanceParameters getParameter(rclcpp::Node * node)
   // safety check rss params
   {
     const std::string ns = "avoidance.safety_check.";
-    p.rss_params.steering = getOrDeclareParameter<std::string>(*node, ns + "steering");
+    p.rss_params.extended_polygon_policy =
+      getOrDeclareParameter<std::string>(*node, ns + "extended_polygon_policy");
     p.rss_params.longitudinal_distance_min_threshold =
       getOrDeclareParameter<double>(*node, ns + "longitudinal_distance_min_threshold");
     p.rss_params.longitudinal_velocity_delta_time =

planning/behavior_path_planner_common/include/behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp

@@ -126,8 +126,9 @@ struct TargetObjectsOnLane
  */
 struct RSSparams
 {
-  std::string steering{"fixed"};                ///< Policy to create collision check polygon.
-                                                /// possible values: ["fixed", "free"]
+  std::string extended_polygon_policy{
+    "rectangle"};                               ///< Policy to create collision check polygon.
+                                                ///< possible values: ["rectangle", "along_path"]
   double rear_vehicle_reaction_time{0.0};       ///< Reaction time of the rear vehicle.
   double rear_vehicle_safety_time_margin{0.0};  ///< Safety time margin for the rear vehicle.
   double lateral_distance_max_threshold{0.0};   ///< Maximum threshold for lateral distance.

planning/behavior_path_planner_common/src/utils/path_safety_checker/safety_check.cpp

@@ -636,18 +636,18 @@ std::vector<Polygon2d> getCollidedPolygons(
         return ego_polygon;
       }
 
-      if (rss_parameters.steering == "fixed") {
+      if (rss_parameters.extended_polygon_policy == "rectangle") {
         return createExtendedPolygon(
           ego_pose, ego_vehicle_info, lon_offset, lat_margin, is_stopped_object, debug);
       }
 
-      if (rss_parameters.steering == "free") {
+      if (rss_parameters.extended_polygon_policy == "along_path") {
         return createExtendedPolygonAlongPath(
           planned_path, ego_pose, ego_vehicle_info, lon_offset, lat_margin, is_stopped_object,
           debug);
       }
 
-      throw std::domain_error("invalid rss parameter. please select 'fixed' or 'free'.");
+      throw std::domain_error("invalid rss parameter. please select 'rectangle' or 'along_path'.");
     }();
     const auto & extended_obj_polygon =
       is_object_front