feat(avoidance): margin can be set independently for each class (#286)

Signed-off-by: satoshi-ota <[email protected]>

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

@@ -8,7 +8,6 @@
       detection_area_left_expand_dist: 1.0              # [m]
       drivable_area_right_bound_offset: 0.0             # [m]
       drivable_area_left_bound_offset: 0.0              # [m]
-      object_envelope_buffer: 0.3                       # [m]
 
       # avoidance module common setting
       enable_bound_clipping: false
@@ -26,14 +25,46 @@
 
       # avoidance is performed for the object type with true
       target_object:
-        car: true
-        truck: true
-        bus: true
-        trailer: true
-        unknown: false
-        bicycle: false
-        motorcycle: false
-        pedestrian: false
+        car:
+          enable: true
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        truck:
+          enable: true
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        bus:
+          enable: true
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        trailer:
+          enable: true
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        unknown:
+          enable: false
+          envelope_buffer_margin: 0.3
+          safety_buffer_lateral: 0.7
+          safety_buffer_longitudinal: 0.0
+        bicycle:
+          enable: false
+          envelope_buffer_margin: 0.8
+          safety_buffer_lateral: 1.0
+          safety_buffer_longitudinal: 1.0
+        motorcycle:
+          enable: false
+          envelope_buffer_margin: 0.8
+          safety_buffer_lateral: 1.0
+          safety_buffer_longitudinal: 1.0
+        pedestrian:
+          enable: false
+          envelope_buffer_margin: 0.8
+          safety_buffer_lateral: 1.0
+          safety_buffer_longitudinal: 1.0
 
       # For target object filtering
       target_filtering:
@@ -66,7 +97,6 @@
         # avoidance lateral parameters
         lateral:
           lateral_collision_margin: 1.0                 # [m]
-          lateral_collision_safety_buffer: 0.7          # [m]
           lateral_passable_safety_buffer: 1.0           # [m]
           road_shoulder_safety_margin: 0.3              # [m]
           avoidance_execution_lateral_threshold: 0.499
@@ -75,7 +105,6 @@
         # avoidance distance parameters
         longitudinal:
           prepare_time: 2.0                             # [s]
-          longitudinal_collision_safety_buffer: 0.0     # [m]
           min_prepare_distance: 1.0                     # [m]
           min_avoidance_distance: 10.0                  # [m]
           min_nominal_avoidance_speed: 7.0              # [m/s]