add necessary parameters

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

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml

@@ -1,12 +1,18 @@
 /**:
   ros__parameters:
     dynamic_obstacle_stop: # module to stop or before entering the immediate path of a moving object
-      extra_object_width: 1.0  # [m] extra width around detected objects
       minimum_object_velocity: 0.5  # [m/s] objects with a velocity bellow this value are ignored
+      extra_object_width: 1.0  # [m] extra width around detected objects
+      extra_object_footprint_width: 0.0 # [m] extra width around detected objects for footprint
       stop_distance_buffer: 0.5  # [m] extra distance to add between the stop point and the collision point
       time_horizon: 5.0  # [s] time horizon used for collision checks
+      yaw_threshold: 2.35 # [rad] yaw threshold used for collision checks
+      yaw_threshold_behind_object: 0.6 # [rad] yaw threshold used for collision checks for objects behind the ego vehicle
       hysteresis: 1.0  # [m] once a collision has been detected, this hysteresis is used on the collision detection
       add_stop_duration_buffer : 0.5  # [s] duration where a collision must be continuously detected before a stop decision is added
       remove_stop_duration_buffer : 1.0  # [s] duration between no collision being detected and the stop decision being remove
       minimum_object_distance_from_ego_path: 1.0  # [m] minimum distance between the footprints of ego and an object to consider for collision
       ignore_unavoidable_collisions : true  # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight)
+      ignore_objects_behind_ego: false  # if true, ignore objects that are behind the ego vehicle
+      behind_object_distance_threshold: 10.0  # [m] distance behind the ego vehicle to ignore objects
+      use_predicted_path: true  # if true, use the predicted path of the object to calculate the collision point