add expansion type param

Signed-off-by: beyza <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml

@@ -3,6 +3,7 @@
     dynamic_avoidance:
       common:
         enable_debug_info: false
+        use_lane_type: "opposite_direction_lane"
         use_hatched_road_markings: true
 
       # avoidance is performed for the object type with true
@@ -60,7 +61,7 @@
         predicted_path:
           end_time_to_consider: 2.0 # [s]
           threshold_confidence: 0.0 # [] not probability
-        max_lat_offset_to_avoid: 0.5 # [m]
+        max_lat_offset_to_avoid: 2.0 # [m]
         max_time_for_object_lat_shift: 0.0 # [s]
         lpf_gain_for_lat_avoid_to_offset: 0.9 # [-]