feat(behavior path planner): update params of behavior path for dynamic drivable area (autowarefoundation#209) (autowarefoundation#212)

Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>

Author: tkimura4

planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml

@@ -7,8 +7,12 @@
     backward_length_buffer_for_end_of_pull_out: 5.0
     minimum_lane_change_length: 12.0
     minimum_pull_over_length: 16.0
+
     drivable_area_resolution: 0.1
-    drivable_area_width: 100.0
-    drivable_area_height: 50.0
+    drivable_lane_forward_length: 50.0
+    drivable_lane_backward_length:  5.0
+    drivable_lane_margin: 1.0
+    drivable_area_margin: 6.0
+
     refine_goal_search_radius_range: 7.5
     intersection_search_distance: 30.0