increase lateral and angle error thresholds

Signed-off-by: Maxime CLEMENT <[email protected]>

autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml

@@ -19,8 +19,8 @@
     resample_interval: 0.3
     max_deceleration: 2.8
     delay_time: 1.3
-    max_lateral_deviation: 2.0
+    max_lateral_deviation: 10.0
     max_longitudinal_deviation: 2.0
     max_yaw_deviation_deg: 60.0
-    delta_yaw_threshold_for_closest_point: 1.570 #M_PI/2.0, delta yaw thres for closest point
+    delta_yaw_threshold_for_closest_point: 3.570 #M_PI/2.0, delta yaw thres for closest point
     min_braking_distance: 0.0

autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml

@@ -3,8 +3,8 @@
     # -- system --
     traj_resample_dist: 0.1         # path resampling interval [m]
     use_steer_prediction: false     # flag for using steer prediction (do not use steer measurement)
-    admissible_position_error: 5.0  # stop mpc calculation when error is larger than the following value
-    admissible_yaw_error_rad: 1.57  # stop mpc calculation when error is larger than the following value
+    admissible_position_error: 10.0  # stop mpc calculation when error is larger than the following value
+    admissible_yaw_error_rad: 3.57  # stop mpc calculation when error is larger than the following value
 
     # -- path smoothing --
     enable_path_smoothing: false   # flag for path smoothing

autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml

@@ -16,8 +16,8 @@
     stopped_state_entry_vel: 0.01
     stopped_state_entry_acc: 0.1
     emergency_state_overshoot_stop_dist: 1.5
-    emergency_state_traj_trans_dev: 3.0
-    emergency_state_traj_rot_dev: 0.7854
+    emergency_state_traj_trans_dev: 10.0
+    emergency_state_traj_rot_dev: 3.7854
 
     # drive state
     kp: 1.0