feat(autoware_launch): add gradable pass margin in crosswalk (autowar…

…efoundation#496)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml

@@ -36,9 +36,11 @@
 
       # param for pass judge logic
       pass_judge:
-        ego_pass_first_margin: 6.0 # [s] time margin for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
+        ego_pass_first_margin_y: [6.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition)
         ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering
-        ego_pass_later_margin: 10.0 # [s] time margin for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+        ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
+        ego_pass_later_margin_y: [10.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition)
         ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering
         max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk.
         stop_object_velocity_threshold: 0.28 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.28 m/s = 1.0 kmph)