feat(behavior_velocity_planner::intersection): add occlusion detectio…

…n feature (#305)

* migrated

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* fixed param

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* remove some params

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* organized param

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

* disable occlusion feature off by default

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

---------

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

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

@@ -28,5 +28,16 @@
         collision_end_margin_time: 6.0 # [s] this + state_transit_margin_time should be higher to account for collision with slow/decelerating object
         keep_detection_vel_thr: 0.833 # == 3.0km/h. keep detection if ego is ego.vel < keep_detection_vel_thr
 
+      occlusion:
+        enable: false
+        occlusion_detection_area_length: 70.0 # [m]
+        occlusion_creep_velocity: 0.8333 # the creep velocity to occlusion limit stop line
+        free_space_max: 43
+        occupied_min: 58
+        do_dp: true
+        before_creep_stop_time: 1.0 # [s]
+        min_vehicle_brake_for_rss: -2.5 # [m/s^2]
+        max_vehicle_velocity_for_rss: 16.66 # [m/s] == 60kmph
+
     merge_from_private:
       stop_duration_sec: 1.0

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml

@@ -15,6 +15,7 @@
       - "avoidance_right"
       - "pull_over"
       - "pull_out"
+      - "intersection_occlusion"
 
     default_enable_list:
       - "blind_spot"
@@ -29,3 +30,4 @@
       - "avoidance_right"
       - "pull_over"
       - "pull_out"
+      - "intersection_occlusion"