refactor(avoidance): rename ununderstandable params

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

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

@@ -28,7 +28,7 @@
       # avoidance is performed for the object type with true
       target_object:
         car:
-          enable: true                                 # [-]
+          is_target: true                              # [-]
           moving_speed_threshold: 1.0                  # [m/s]
           moving_time_threshold: 1.0                   # [s]
           max_expand_ratio: 0.0                        # [-]
@@ -37,7 +37,7 @@
           safety_buffer_lateral: 0.7                   # [m]
           safety_buffer_longitudinal: 0.0              # [m]
         truck:
-          enable: true
+          is_target: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -46,7 +46,7 @@
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bus:
-          enable: true
+          is_target: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -55,7 +55,7 @@
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         trailer:
-          enable: true
+          is_target: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -64,7 +64,7 @@
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         unknown:
-          enable: true
+          is_target: true
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -73,7 +73,7 @@
           safety_buffer_lateral: 0.7
           safety_buffer_longitudinal: 0.0
         bicycle:
-          enable: true
+          is_target: true
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -82,7 +82,7 @@
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         motorcycle:
-          enable: true
+          is_target: true
           moving_speed_threshold: 1.0                  # 3.6km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -91,7 +91,7 @@
           safety_buffer_lateral: 1.0
           safety_buffer_longitudinal: 1.0
         pedestrian:
-          enable: true
+          is_target: true
           moving_speed_threshold: 0.28                 # 1.0km/h
           moving_time_threshold: 1.0
           max_expand_ratio: 0.0
@@ -104,12 +104,12 @@
 
       # For target object filtering
       target_filtering:
-        # filtering moving objects
-        threshold_time_force_avoidance_for_stopped_vehicle: 10.0 # [s]
+        # params for avoidance of not-parked objects
+        threshold_time_force_avoidance_for_stopped_vehicle: 10.0    # [s]
+        object_ignore_section_traffic_light_in_front_distance: 30.0 # [m]
+        object_ignore_section_crosswalk_in_front_distance: 30.0     # [m]
+        object_ignore_section_crosswalk_behind_distance: 30.0       # [m]
         # detection range
-        object_ignore_distance_traffic_light: 30.0      # [m]
-        object_ignore_distance_crosswalk_forward: 30.0  # [m]
-        object_ignore_distance_crosswalk_backward: 30.0 # [m]
         object_check_forward_distance: 150.0            # [m]
         object_check_backward_distance: 10.0            # [m]
         object_check_goal_distance: 20.0                # [m]
@@ -132,7 +132,6 @@
       avoidance:
         # avoidance lateral parameters
         lateral:
-          lateral_collision_margin: 1.0                 # [m]
           lateral_execution_threshold: 0.499            # [m]
           lateral_small_shift_threshold: 0.101          # [m]
           road_shoulder_safety_margin: 0.3              # [m]