fix(avoidance): tune lateral margin params

[satoshi-ota]

Description

See autowarefoundation/autoware.universe#6520.

I tuned hard margin params for vehicle type object in public road test.

          lateral_margin:
            soft_margin: 0.3                           # [m]
            hard_margin: 0.2                           # [m]
            hard_margin_for_parked_vehicle: 0.7        # [m]
...
          envelope_buffer_margin: 0.5 

margin for parked vehicle

• min: 1.2m (if the lateral margin less than this value, avoidance module inserts stop point until RTC is approved.)
• max: 1.5m

margin for NON parked vehicle

• min: 0.7m (if the lateral margin less than this value, avoidance module inserts stop point until RTC is approved.)
• max: 1.0m

Tests performed

• PASS TIER IV INTERNAL SCENARIOS

Effects on system behavior

Nothing.

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[shmpwk]

LGTM