How to tune lateral LQR controller in Apollo?

[MaisJamal]

System information

• **OS Platform and Distribution **: Ubuntu 20.04
• **Apollo version **: Apollo 7.0

Steps to reproduce the issue:

• I'm running Apollo with Carla, the vehicle in Carla is MKZ 2017 and in Apollo As well. From the behavior it's obvious that the lateral LQR controller in Apollo needs to be tuned with the new vehicle, I have checked this page "How to Tune Control Parameters" but it's not much of help, do you have any suggestion how to tune the controller in an effective way?

Supporting materials :

https://user-images.githubusercontent.com/17913075/190626230-53a3a05f-c342-46cc-aa62-a0b261ddfac6.mp4