update params and preset

Signed-off-by: Maxime CLEMENT <[email protected]>

autoware_launch/config/planning/preset/default_preset.yaml

@@ -70,7 +70,7 @@ launch:
       default: "false"
   - arg:
       name: launch_run_out_module
-      default: "true"
+      default: "false"
   - arg:
       name: launch_speed_bump_module
       default: "false"
@@ -103,7 +103,7 @@ launch:
       name: launch_obstacle_velocity_limiter_module
       default: "true"
   - arg:
-      name: launch_run_out_module
+      name: launch_mvp_run_out_module
       default: "true"
 
   - arg:

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/run_out.param.yaml

@@ -1,19 +1,24 @@
 /**:
   ros__parameters:
     run_out:  # module to stop or slowdown before sudden collisions with obstacles
-      objects:
-        minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
-        predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.
-        cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
-
       stop_on_time_buffer: 0.5   # [s] successive collision detection time required to start the stopping decision
       stop_off_time_buffer: 1.0  # [s] successive non-collision detection time required to remove a stopping decision
       ego_time_interval_expansion: 0.2  # [s] time to add to the ego time interval (on both the start and end times)
-      stop_distance_buffer: 1.0   # [m] longitudinal safety distance to keep between ego and the collision position
+      stop_distance_buffer: 2.0   # [m] longitudinal safety distance to keep between ego and the collision position
       enable_passing_collisions: true  # If true, a collision where ego arrives first is ignored
       passing_collisions_time_margin: 0.5  # [s] required time margin to decide a passing_collision
+      collision_time_margin: 0.5  # [s]
 
       ego:
-        # additional margins to calculate the ego footprint
+        # additional margins to calculate the ego footprint used for collision detection
         lateral_margin: 0.0 # [m] extra lateral margin
         longitudinal_margin: 0.0 # [m] extra longitudinal margin
+
+      objects:
+        target_labels: ["PEDESTRIAN", "CAR"]
+        parked_labels: ["CAR"]
+        parked_velocity_threshold: 0.5  # [m/s]
+        ignore_if_crossing_parked_objects: true  # if true, predicted paths crossing a parked vehicle before the ego trajectory are ignored
+        ignore_if_crossing_ego_from_behind: true  # if true, predicted paths crossing the ego vehicle from behind are ignored
+        minimum_velocity: 0.5  # [m/s] objects lower than this velocity will be ignored
+        predicted_path_min_confidence : 0.1  # when using predicted paths, ignore the ones whose confidence is lower than this value.