fix(obstacle_cruise_planner): adjust parameters for handling overtaking then slowing down NPC

[ahmeddesokyebrahim]

Description

Fixes :

• https://github.com/autowarefoundation/autoware.universe/issues/7877

Related links

Parent Issue :

• https://github.com/autowarefoundation/autoware.universe/issues/7485

Tests performed

Using scenario simulation

• scenario
• map

Before this PR

NPC slowing down from 20 to 15 km/h "PASSED :heavy_check_mark: "

https://github.com/user-attachments/assets/917cda44-981e-42f1-9347-f7e694c41fd6

NPC slowing down from 20 to 12.5 km/h "FAILED :x:"

https://github.com/user-attachments/assets/53c59784-d77e-4438-b367-d6689d1e2109

NPC slowing down from 20 to 10 km/h "FAILED :x:"

https://github.com/user-attachments/assets/7fc53112-fbc0-48a5-aab8-57528b8b6f7e

After this PR

NPC slowing down from 20 to 15 km/h "PASSED :heavy_check_mark: "

https://github.com/user-attachments/assets/7a2b9096-70a7-4a50-af20-17a4070b37db

NPC slowing down from 20 to 12.5 km/h "PASSED :heavy_check_mark: "

https://github.com/user-attachments/assets/51b0f4d3-9f73-4886-9df4-3a2333fbc54d

NPC slowing down from 20 to 10 km/h "PASSED :heavy_check_mark: "

https://github.com/user-attachments/assets/e377b3fe-93c6-4b64-8108-60164c2767c5

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Parameter Name	Default Value	Update Description
safe_distance_margin	5.0 m	Lowering the safe distance margin enabling less -ve acceleration and hence and less drop of ego vehicle velocity while slowing down for cruising a front overtaking NPC
obstacle_velocity_threshold_from_cruise_to_stop	2.5 m/s	Lowering the velocity threshod from cruise to stop for obostacles to be 2.5 m/s (9 km/h) for better handling some situations in dense urban ODD

Effects on system behavior

Improving obstacle_cruise_planner so that it is handing overtaking then slowing down NPC in dense urban ODD scenarios will better -ve acceleration and velocity drop while slowing down.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• [x] I've confirmed the contribution guidelines.
• [x] The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• [ ] The PR follows the pull request guidelines.
• [ ] The PR has been properly tested.
• [ ] The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• [ ] There are no open discussions or they are tracked via tickets.
• [ ] The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[xmfcx]

@satoshi-ota @danielsanchezaran could you review this please? It's been a long time and it's a very small parameter change.

[ahmeddesokyebrahim]

Closing this PR as the intended issue and scenario/s will be covered by this PR

[satoshi-ota]

@xmfcx @ahmeddesokyebrahim Sorry for late reply. This module obstacle_cruise_planner is maintained by @yuki-takagi-66 and @takayuki5168 , so please mention them when you modify something :+1: