fix: tune parameters for pedestrian initial covariances and process noise

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

Author: technolojin

perception/multi_object_tracker/src/tracker/model/pedestrian_tracker.cpp

@@ -57,15 +57,15 @@ PedestrianTracker::PedestrianTracker(
   float q_stddev_y = 0.4;                                     // [m/s]
   float q_stddev_yaw = tier4_autoware_utils::deg2rad(20);     // [rad/s]
   float q_stddev_vx = tier4_autoware_utils::kmph2mps(5);      // [m/(s*s)]
-  float q_stddev_wz = tier4_autoware_utils::deg2rad(20);      // [rad/(s*s)]
+  float q_stddev_wz = tier4_autoware_utils::deg2rad(30);      // [rad/(s*s)]
   float r_stddev_x = 0.4;                                     // [m]
   float r_stddev_y = 0.4;                                     // [m]
   float r_stddev_yaw = tier4_autoware_utils::deg2rad(30);     // [rad]
-  float p0_stddev_x = 1.0;                                    // [m/s]
-  float p0_stddev_y = 1.0;                                    // [m/s]
+  float p0_stddev_x = 2.0;                                    // [m/s]
+  float p0_stddev_y = 2.0;                                    // [m/s]
   float p0_stddev_yaw = tier4_autoware_utils::deg2rad(1000);  // [rad/s]
-  float p0_stddev_vx = tier4_autoware_utils::kmph2mps(5);     // [m/(s*s)]
-  float p0_stddev_wz = tier4_autoware_utils::deg2rad(10);     // [rad/(s*s)]
+  float p0_stddev_vx = tier4_autoware_utils::kmph2mps(120);   // [m/(s*s)]
+  float p0_stddev_wz = tier4_autoware_utils::deg2rad(360);    // [rad/(s*s)]
   ekf_params_.q_cov_x = std::pow(q_stddev_x, 2.0);
   ekf_params_.q_cov_y = std::pow(q_stddev_y, 2.0);
   ekf_params_.q_cov_yaw = std::pow(q_stddev_yaw, 2.0);