feat(lane_change): cherry-pick lane change commits to beta/v0.29.0

[zulfaqar-azmi-t4]

Description

launcher for tier4/autoware.universe#1441

ROS Parameter Changes

Additions and removals

Change type	Parameter Name	Type	Default Value	Description
Added	finish_judge_lateral_angle_deviation	double	1.0	lateral angle threshold to determine lane change completion
Added	parked.expected_front_deceleration	double	-1.0	The front object's maximum deceleration when the front vehicle perform sudden braking
Added	parked.expected_rear_deceleration	double	-2.0	The rear object's maximum deceleration when the rear vehicle perform sudden braking.
Added	parked.rear_vehicle_reaction_time	double	1.0	The reaction time of the rear vehicle driver which starts from the driver noticing the sudden braking of the front vehicle until the driver step on the brake.
Added	parked.rear_vehicle_safety_time_margin	double	0.8	The time buffer for the rear vehicle to come into complete stop when its driver perform sudden braking.
Added	parked.lateral_distance_max_threshold	double	1.0	The lateral distance threshold that is used to determine whether lateral distance between two object is enough and whether lane change is safe.
Added	parked.longitudinal_distance_min_threshold	double	3.0	The longitudinal distance threshold that is used to determine whether longitudinal distance between two object is enough and whether lane change is safe.
Added	parked.longitudinal_velocity_delta_time	double	0.0	The time multiplier that is used to compute the actual gap between vehicle at each predicted points (not RSS distance)
Added	skip_process.longitudinal_distance_diff_threshold.prepare	double	1.0	prepare longitudinal distance threshold to skip path planning
Added	skip_process.longitudinal_distance_diff_threshold.lane_changing	double	1.0	lane changing longitudinal distance threshold to skip path planning

Modifications

Version	Parameter Name	Type	Default Value	Description
Old	finish_judge_lateral_threshold	double	0.2	lateral threshold to determine lane change completion
New	finish_judge_lateral_threshold	double	0.1	lateral threshold to determine lane change completion

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

Interface changes

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[shmpwk]

@zulfaqar-azmi-t4 cc. @Naophis
Thank you so much! I'd like to merge this after v0.46.0 release this week. Until that let me change this PR to draft 🙏

[zulfaqar-azmi-t4]

@Naophis @shmpwk
I saw the main PR is merged, please don't forget to merge this as well. 🙏🏼

[shmpwk]

LGTM