fix(control_validator): fix param names and doc (autowarefoundation#8104)

* fix
Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>

Author: yuki-takagi-66

control/autoware_control_validator/README.md

@@ -8,10 +8,11 @@ The `control_validator` is a module that checks the validity of the output of th
 
 The following features are supported for the validation and can have thresholds set by parameters.
 The listed features below does not always correspond to the latest implementation.
-| Description | Arguments | Diagnostic equation | Implemented function name |
-| ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- | :--------------------------------: | ------------------------------- |
-| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and threshold velocity parameter $k$ | $v\hat{v}<0,~\|v\|>k $       | `checkValidVelocityDeviation()` |
-| Overspeed: Measured speed exceeds target speed significantly.                      | measured velocity $v$, target velocity $\hat{v}$, and threshold ratio parameter $r$ | $\| v \| > (1 + r) \| \hat{v} \| $ | `checkValidVelocityDeviation()` |
+
+| Description                                                                        | Arguments                                                                              |                Diagnostic equation                | Implemented function name       |
+| ---------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------- | :-----------------------------------------------: | ------------------------------- |
+| Inverse velocity: Measured velocity has a different sign from the target velocity. | measured velocity $v$, target velocity $\hat{v}$, and threshold velocity parameter $k$ |    $v \hat{v} < 0, \quad \lvert v \rvert > k$     | `checkValidVelocityDeviation()` |
+| Overspeed: Measured speed exceeds target speed significantly.                      | measured velocity $v$, target velocity $\hat{v}$, and threshold ratio parameter $r$    | $\lvert v \rvert > (1 + r) \lvert \hat{v} \rvert$ | `checkValidVelocityDeviation()` |
 
 - **Deviation check between reference trajectory and predicted trajectory** : invalid when the largest deviation between the predicted trajectory and reference trajectory is greater than the given threshold.
 

control/autoware_control_validator/src/control_validator.cpp

@@ -53,8 +53,8 @@ void ControlValidator::setupParameters()
     auto & p = validation_params_;
     const std::string t = "thresholds.";
     p.max_distance_deviation_threshold = declare_parameter<double>(t + "max_distance_deviation");
-    p.max_reverse_velocity_threshold = declare_parameter<double>(t + "reverse_velocity");
-    p.max_over_velocity_ratio_threshold = declare_parameter<double>(t + "over_velocity_ratio");
+    p.max_reverse_velocity_threshold = declare_parameter<double>(t + "max_reverse_velocity");
+    p.max_over_velocity_ratio_threshold = declare_parameter<double>(t + "max_over_velocity_ratio");
   }
 
   try {