feat: enable and tune drivable area expansion (#689)

enable drivable area expansion

Signed-off-by: Takayuki Murooka <[email protected]>

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

@@ -7,7 +7,7 @@
 
     # Dynamic expansion by using the path curvature
     dynamic_expansion:
-      enabled: false
+      enabled: true
       print_runtime: false
       max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit)
       smoothing:
@@ -19,14 +19,14 @@
         extra_front_overhang: 0.5 # [m] extra length to add to the front overhang
         extra_width: 1.0 # [m] extra length to add to the width
       dynamic_objects:
-        avoid: true # if true, the drivable area is not expanded in the predicted path of dynamic objects
+        avoid: false # if true, the drivable area is not expanded in the predicted path of dynamic objects
         extra_footprint_offset:
           front: 0.5 # [m] extra length to add to the front of the dynamic object footprint
           rear: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
           left: 0.5 # [m] extra length to add to the left of the dynamic object footprint
           right: 0.5 # [m] extra length to add to the rear of the dynamic object footprint
       path_preprocessing:
-        max_arc_length: 50.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
+        max_arc_length: 100.0 # [m] maximum arc length along the path where the ego footprint is projected (0.0 means no limit)
         resample_interval: 2.0 # [m] fixed interval between resampled path points (0.0 means path points are directly used)
         reuse_max_deviation: 0.5 # [m] if the path changes by more than this value, the curvatures are recalculated. Otherwise they are reused.
       avoid_linestring: