feat(AEB): implement parameterized prediction time horizon and interv…

…al (autowarefoundation#657)

Signed-off-by: 1222-takeshi <m.takeshi1995@gmail.com>

autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    publish_debug_pointcloud: false
     use_predicted_trajectory: true
     use_imu_path: true
     voxel_grid_x: 0.05
@@ -11,7 +12,9 @@
     t_response: 1.0
     a_ego_min: -3.0
     a_obj_min: -1.0
-    prediction_time_horizon: 1.5
-    prediction_time_interval: 0.1
+    imu_prediction_time_horizon: 1.5
+    imu_prediction_time_interval: 0.1
+    mpc_prediction_time_horizon: 1.5
+    mpc_prediction_time_interval: 0.1
     collision_keeping_sec: 0.0
     aeb_hz: 10.0