fix(obstacle_cruise_planner): adjust parameters for handling overtaking then slowing down NPC

[ahmeddesokyebrahim]

Description

Fixes :

• [Dense-Urban-ODD] Improve cruise planner slowing down capabilities to overtaking NPC autoware.universe#7877

Related links

Parent Issue :

• [Autoware Labs] Dense Urban ODD - Reviewing and Tracking Failed Scenarios autoware.universe#7485

Tests performed

Using scenario simulation

• scenario
• map

Before this PR

NPC slowing down from 20 to 15 km/h "PASSED ✔️ "

2024-08-01.07-33-50.mp4

NPC slowing down from 20 to 12.5 km/h "FAILED ❌"

2024-08-01.07-35-41.mp4

NPC slowing down from 20 to 10 km/h "FAILED ❌"

2024-08-01.07-36-56.mp4

After this PR

NPC slowing down from 20 to 15 km/h "PASSED ✔️ "

2024-08-01.07-22-10.mp4

NPC slowing down from 20 to 12.5 km/h "PASSED ✔️ "

2024-08-01.07-23-59.mp4

NPC slowing down from 20 to 10 km/h "PASSED ✔️ "

2024-08-01.07-25-55.mp4

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Parameter Name	Default Value	Update Description
safe_distance_margin	5.0 m	Lowering the safe distance margin enabling less -ve acceleration and hence and less drop of ego vehicle velocity while slowing down for cruising a front overtaking NPC
obstacle_velocity_threshold_from_cruise_to_stop	2.5 m/s	Lowering the velocity threshod from cruise to stop for obostacles to be 2.5 m/s (9 km/h) for better handling some situations in dense urban ODD

Effects on system behavior

Improving obstacle_cruise_planner so that it is handing overtaking then slowing down NPC in dense urban ODD scenarios will better -ve acceleration and velocity drop while slowing down.

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[xmfcx]

@satoshi-ota @danielsanchezaran could you review this please? It's been a long time and it's a very small parameter change.

[ahmeddesokyebrahim]

Closing this PR as the intended issue and scenario/s will be covered by this PR

[satoshi-ota]

@xmfcx @ahmeddesokyebrahim Sorry for late reply. This module obstacle_cruise_planner is maintained by @yuki-takagi-66 and @takayuki5168 , so please mention them when you modify something 👍