feat(out_of_lane): redesign to improve accuracy and performance (autowarefoundation#1117)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

Author: maxime-clem

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml

@@ -1,34 +1,24 @@
 /**:
   ros__parameters:
     out_of_lane:  # module to stop or slowdown before overlapping another lane with other objects
-      mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
+      mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc"
       skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
       ignore_overlaps_over_lane_changeable_lanelets: true  # if true, overlaps on lane changeable lanelets are ignored
+      max_arc_length: 100.0  # [m] maximum trajectory arc length that is checked for out_of_lane collisions
 
       threshold:
         time_threshold: 5.0  # [s] consider objects that will reach an overlap within this time
-      intervals:  # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego
-        ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer
-        objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer
       ttc:
-        threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
+        threshold: 1.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap
 
       objects:
         minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
-        use_predicted_paths: true  # if true, use the predicted paths to estimate future positions.
-                                   # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in.
         predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
-        distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane
         cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
         ignore_behind_ego: true # if true, objects behind the ego vehicle are ignored
 
-      overlap:
-        minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered
-        extra_length: 0.0  # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times)
-
-      action:  # action to insert in the path if an object causes a conflict at an overlap
-        skip_if_over_max_decel: true  # if true, do not take an action that would cause more deceleration than the maximum allowed
-        precision: 0.1  # [m] precision when inserting a stop pose in the path
+      action:  # action to insert in the trajectory if an object causes a conflict at an overlap
+        precision: 0.1  # [m] precision when inserting a stop pose in the trajectory
         longitudinal_distance_buffer: 1.5  # [m] safety distance buffer to keep in front of the ego vehicle
         lateral_distance_buffer: 1.0  # [m] safety distance buffer to keep on the side of the ego vehicle
         min_duration: 1.0  # [s] minimum duration needed before a decision can be canceled
@@ -39,8 +29,8 @@
           distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
 
       ego:
-        min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego
-        extra_front_offset: 0.0 # [m] extra front distance
-        extra_rear_offset: 0.0 # [m] extra rear distance
-        extra_right_offset: 0.0 # [m] extra right distance
-        extra_left_offset: 0.0 # [m] extra left distance
+        # extra footprint offsets to calculate out of lane collisions
+        extra_front_offset: 0.0 # [m] extra footprint front distance
+        extra_rear_offset: 0.0 # [m] extra footprint rear distance
+        extra_right_offset: 0.0 # [m] extra footprint right distance
+        extra_left_offset: 0.0 # [m] extra footprint left distance