fix(dynamic_obstacle_avoidance): improve avoidance for moving NPCs (a…

…utowarefoundation#1170)

Signed-off-by: beyza <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml

@@ -56,10 +56,10 @@
         object_path_base:
           min_longitudinal_polygon_margin: 3.0 # [m]
 
-        lat_offset_from_obstacle: 1.0 # [m]
-        margin_distance_around_pedestrian: 2.0 # [m]
+        lat_offset_from_obstacle: 0.3 # [m]
+        margin_distance_around_pedestrian: 0.8 # [m]
         predicted_path:
-          end_time_to_consider: 2.0 # [s]
+          end_time_to_consider: 1.0 # [s]
           threshold_confidence: 0.0 # [] not probability
         max_lat_offset_to_avoid: 0.5 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]