refactor(static_obstacle_avoidance): organize params for drivable lane (autowarefoundation#7715)

* refactor(static_obstacle_avoidance): organize params for drivable lane

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

* Update planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/schema/static_obstacle_avoidance.schema.json

---------

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

Author: satoshi-ota

planning/behavior_path_avoidance_module/config/avoidance.param.yaml

@@ -5,9 +5,13 @@
       resample_interval_for_planning: 0.3               # [m] FOR DEVELOPER
       resample_interval_for_output: 4.0                 # [m] FOR DEVELOPER
 
+      # drivable lane setting. this module is able to use not only current lane but also right/left lane
+      # if the current lane(=lanelet::Lanelet) and the right/left lane share the boundary(=lanelet::Linestring) in HDMap.
+      # "current_lane"           : use only current lane. this module doesn't use adjacent lane to avoid object.
+      # "same_direction_lane"    : this module uses same direction lane to avoid object if need.
+      # "opposite_direction_lane": this module uses both same direction and opposite direction lane.
+      use_lane_type: "opposite_direction_lane"
       # drivable area setting
-      use_adjacent_lane: true
-      use_opposite_lane: true
       use_intersection_areas: true
       use_hatched_road_markings: true
       use_freespace_areas: true

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/data_structs.hpp

@@ -101,12 +101,8 @@ struct AvoidanceParameters
   // computational cost for latter modules.
   double resample_interval_for_output = 3.0;
 
-  // enable avoidance to be perform only in lane with same direction
-  bool use_adjacent_lane{true};
-
-  // enable avoidance to be perform in opposite lane direction
-  // to use this, enable_avoidance_over_same_direction need to be set to true.
-  bool use_opposite_lane{true};
+  // drivable lane config
+  std::string use_lane_type{"current_lane"};
 
   // if this param is true, it reverts avoidance path when the path is no longer needed.
   bool enable_cancel_maneuver{false};

planning/behavior_path_avoidance_module/include/behavior_path_avoidance_module/parameter_helper.hpp

@@ -46,8 +46,7 @@ AvoidanceParameters getParameter(rclcpp::Node * node)
   // drivable area
   {
     const std::string ns = "avoidance.";
-    p.use_adjacent_lane = getOrDeclareParameter<bool>(*node, ns + "use_adjacent_lane");
-    p.use_opposite_lane = getOrDeclareParameter<bool>(*node, ns + "use_opposite_lane");
+    p.use_lane_type = getOrDeclareParameter<std::string>(*node, ns + "use_lane_type");
     p.use_intersection_areas = getOrDeclareParameter<bool>(*node, ns + "use_intersection_areas");
     p.use_hatched_road_markings =
       getOrDeclareParameter<bool>(*node, ns + "use_hatched_road_markings");

planning/behavior_path_avoidance_module/schema/avoidance.schema.json

@@ -22,15 +22,11 @@
           "description": "Path generation method.",
           "default": "shift_line_base"
         },
-        "use_adjacent_lane": {
-          "type": "boolean",
-          "description": "Extend avoidance trajectory to adjacent lanes that has same direction. If false, avoidance only happen in current lane.",
-          "default": "true"
-        },
-        "use_opposite_lane": {
-          "type": "boolean",
-          "description": "Extend avoidance trajectory to opposite direction lane. `use_adjacent_lane` must be `true` to take effects.",
-          "default": "true"
+        "use_lane_type": {
+          "type": "string",
+          "enum": ["current_lane", "same_direction_lane", "opposite_direction_lane"],
+          "description": "Drivable lane configuration.",
+          "default": "opposite_direction_lane"
         },
         "use_hatched_road_markings": {
           "type": "boolean",
@@ -1475,8 +1471,7 @@
         "resample_interval_for_planning",
         "resample_interval_for_output",
         "path_generation_method",
-        "use_adjacent_lane",
-        "use_opposite_lane",
+        "use_lane_type",
         "use_hatched_road_markings",
         "use_intersection_areas",
         "use_freespace_areas",

planning/behavior_path_avoidance_module/src/utils.cpp

@@ -2318,14 +2318,16 @@ DrivableLanes generateExpandedDrivableLanes(
   current_drivable_lanes.left_lane = lanelet;
   current_drivable_lanes.right_lane = lanelet;
 
-  if (!parameters->use_adjacent_lane) {
+  if (parameters->use_lane_type == "current_lane") {
     return current_drivable_lanes;
   }
 
+  const auto use_opposite_lane = parameters->use_lane_type == "opposite_direction_lane";
+
   // 1. get left/right side lanes
   const auto update_left_lanelets = [&](const lanelet::ConstLanelet & target_lane) {
-    const auto all_left_lanelets = route_handler->getAllLeftSharedLinestringLanelets(
-      target_lane, parameters->use_opposite_lane, true);
+    const auto all_left_lanelets =
+      route_handler->getAllLeftSharedLinestringLanelets(target_lane, use_opposite_lane, true);
     if (!all_left_lanelets.empty()) {
       current_drivable_lanes.left_lane = all_left_lanelets.back();  // leftmost lanelet
       pushUniqueVector(
@@ -2334,8 +2336,8 @@ DrivableLanes generateExpandedDrivableLanes(
     }
   };
   const auto update_right_lanelets = [&](const lanelet::ConstLanelet & target_lane) {
-    const auto all_right_lanelets = route_handler->getAllRightSharedLinestringLanelets(
-      target_lane, parameters->use_opposite_lane, true);
+    const auto all_right_lanelets =
+      route_handler->getAllRightSharedLinestringLanelets(target_lane, use_opposite_lane, true);
     if (!all_right_lanelets.empty()) {
       current_drivable_lanes.right_lane = all_right_lanelets.back();  // rightmost lanelet
       pushUniqueVector(