define ahead_margin

Signed-off-by: kyoichi-sugahara <[email protected]>

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

@@ -17,6 +17,8 @@
         far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object).
         # For the case where the stop position is determined according to the object position.
         stop_distance_from_object: 2.0 # [m] the vehicle decelerates to be able to stop in front of object with margin
+        # If the ahead stop position is already inserted, use the same position for the new stop point.
+        ahead_margin: 2.0 # [m]  specifies the margin between the current position and the stop point
 
       # param for ego's slow down velocity
       slow_down: