po

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

Author: yuki-takagi-66

control/autoware_control_validator/config/control_validator.param.yaml

@@ -1,19 +1,22 @@
 /**:
   ros__parameters:
-    # If the number of consecutive invalid trajectory exceeds this threshold, the Diag will be set to ERROR.
-    # (For example, threshold = 1 means, even if the trajectory is invalid, Diag will not be ERROR if
-    #  the next trajectory is valid.)
+    # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
+    # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if
+    #  the next predicted_path is valid.)
     diag_error_count_threshold: 0
 
     display_on_terminal: false # show error msg on terminal
 
     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