add max_arc_length param and cleanup

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>

autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml

@@ -1,9 +1,10 @@
 /**:
   ros__parameters:
     out_of_lane:  # module to stop or slowdown before overlapping another lane with other objects
-      mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc"
+      mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc"
       skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane
       ignore_overlaps_over_lane_changeable_lanelets: true  # if true, overlaps on lane changeable lanelets are ignored
+      max_arc_length: 100.0  # [m] maximum trajectory arc length that is checked for out_of_lane collisions
 
       threshold:
         time_threshold: 5.0  # [s] consider objects that will reach an overlap within this time
@@ -16,11 +17,8 @@
         cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights
         ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored
 
-      overlap:
-        minimum_distance: 0.0  # [m] minimum distance inside a lanelet for an overlap to be considered
-
-      action:  # action to insert in the path if an object causes a conflict at an overlap
-        precision: 0.1  # [m] precision when inserting a stop pose in the path
+      action:  # action to insert in the trajectory if an object causes a conflict at an overlap
+        precision: 0.1  # [m] precision when inserting a stop pose in the trajectory
         longitudinal_distance_buffer: 1.5  # [m] safety distance buffer to keep in front of the ego vehicle
         lateral_distance_buffer: 1.0  # [m] safety distance buffer to keep on the side of the ego vehicle
         min_duration: 1.0  # [s] minimum duration needed before a decision can be canceled
@@ -31,7 +29,8 @@
           distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap
 
       ego:
-        extra_front_offset: 0.0 # [m] extra front distance
-        extra_rear_offset: 0.0 # [m] extra rear distance
-        extra_right_offset: 0.0 # [m] extra right distance
-        extra_left_offset: 0.0 # [m] extra left distance
+        # extra footprint offsets to calculate out of lane collisions
+        extra_front_offset: 0.0 # [m] extra footprint front distance
+        extra_rear_offset: 0.0 # [m] extra footprint rear distance
+        extra_right_offset: 0.0 # [m] extra footprint right distance
+        extra_left_offset: 0.0 # [m] extra footprint left distance