feat(control_validator)!: add acceleration check (#1375)

Signed-off-by: yuki-takagi-66 <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

Diff for: autoware_launch/config/control/control_validator/control_validator.param.yaml

@@ -9,11 +9,14 @@
 
     thresholds:
       max_distance_deviation: 1.0
+      acc_error_offset: 0.8
+      acc_error_scale: 0.2
       rolling_back_velocity: 0.5
       over_velocity_offset: 2.0
       over_velocity_ratio: 0.2
       overrun_stop_point_dist: 0.8
       nominal_latency: 0.01
 
+    acc_lpf_gain: 0.97 # Time constant 1.11s
     vel_lpf_gain: 0.9 # Time constant 0.33
     hold_velocity_error_until_stop: true