feat(lane_change): use different rss param to deal with parked vehicle

[zulfaqar-azmi-t4]

Description

Available RSS parameters is too conservative for parked vehicle.
In this PR, RSS parameters for parked vehicle is separated to relax the criteria.

Related links

autowarefoundation/autoware_launch#1104

How was this PR tested?

1. With PSIM
2. TIER IV internal link

Notes for reviewers

None.

Interface changes

None.

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	safety_check.parked.expected_front_deceleration	double	-1.0	The front object's maximum deceleration when the front vehicle perform sudden braking.
Added	safety_check.parked.expected_rear_deceleration	double	-2.0	The rear object's maximum deceleration when the rear vehicle perform sudden braking.
Added	safety_check.parked.rear_vehicle_reaction_time	double	1.0	The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake.
Added	safety_check.parked.rear_vehicle_safety_time_margin	double	0.8	The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking.
Added	safety_check.parked.lateral_distance_max_threshold	double	1.0	The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe.
Added	safety_check.parked.longitudinal_distance_min_threshold	double	3.0	The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe.
Added	safety_check.parked.longitudinal_velocity_delta_time	double	0.8	The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance)

Effects on system behavior

None.

[github-actions]

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[maxime-clem]

The code looks good 👍

[maxime-clem]

(minor) prepare_segment_ignore_object_velocity_thresh this parameter should probably be renamed since the object is not ignored (can be done in a future PR).

[zulfaqar-azmi-t4]

Yeah, I plan to rename it to something else in the later PR.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-8316/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-8316/planning/behavior_path_planner/autoware_behavior_path_lane_change_module/

[codecov]

Codecov Report

Attention: Patch coverage is 84.21053% with 3 lines in your changes missing coverage. Please review.

Project coverage is 10.96%. Comparing base (3d849e9) to head (3dfcc0e).
Report is 976 commits behind head on main.

Files	Patch %	Lines
...are_behavior_path_lane_change_module/src/scene.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #8316       +/-   ##
===========================================
- Coverage   15.09%   10.96%    -4.14%     
===========================================
  Files        1967      267     -1700     
  Lines      135941    27475   -108466     
  Branches    42122     4864    -37258     
===========================================
- Hits        20520     3012    -17508     
+ Misses      92700    24087    -68613     
+ Partials    22721      376    -22345     

Flag	Coverage Δ
differential	10.96% <84.21%> (?)
total	?

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