feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation (#1113)

* feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation

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

* fix(static_obstacle_avoidance): tune ambiguous vehicle ignore area

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

---------

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

Author: satoshi-ota

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml

@@ -142,16 +142,16 @@
           # "auto"   : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically.
           # "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode.
           # "ignore" : never avoid it.
-          policy: "auto"                                # [-]
+          policy: "manual"                              # [-]
           condition:
             th_stopped_time: 3.0                        # [s]
             th_moving_distance: 1.0                     # [m]
           ignore_area:
             traffic_light:
-              front_distance: 100.0                     # [m]
+              front_distance: 20.0                      # [m]
             crosswalk:
-              front_distance: 30.0                      # [m]
-              behind_distance: 30.0                     # [m]
+              front_distance: 20.0                      # [m]
+              behind_distance: 0.0                      # [m]
           wait_and_see:
             target_behaviors: ["MERGING", "DEVIATING"]  # [-]
             th_closest_distance: 10.0                   # [m]