refactor(avoidance): cleanup force avoidance params (#667)

Signed-off-by: satoshi-ota <[email protected]>

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

@@ -9,7 +9,6 @@
 
       # avoidance module common setting
       enable_bound_clipping: false
-      enable_force_avoidance_for_stopped_vehicle: false
       enable_yield_maneuver: true
       enable_yield_maneuver_during_shifting: false
       enable_cancel_maneuver: true
@@ -120,11 +119,6 @@
 
       # For target object filtering
       target_filtering:
-        # params for avoidance of not-parked objects
-        threshold_time_force_avoidance_for_stopped_vehicle: 1.0      # [s]
-        object_ignore_section_traffic_light_in_front_distance: 100.0 # [m]
-        object_ignore_section_crosswalk_in_front_distance: 30.0      # [m]
-        object_ignore_section_crosswalk_behind_distance: 30.0        # [m]
         # detection range
         object_check_goal_distance: 20.0                # [m]
         # filtering parking objects
@@ -141,6 +135,17 @@
           max_forward_distance: 150.0                    # [m]
           backward_distance: 10.0                        # [m]
 
+        # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked.
+        force_avoidance:
+          enable: false                                  # [-]
+          time_threshold: 1.0                            # [s]
+          ignore_area:
+            traffic_light:
+              front_distance: 100.0                      # [m]
+            crosswalk:
+              front_distance: 30.0                       # [m]
+              behind_distance: 30.0                      # [m]
+
       # For safety check
       safety_check:
         # safety check configuration