Deviation in trajectory wrt to lateral movement (steering angle and rate).

[Narendarselva]

Hi Autoware Team,
We are using the Autoware.universe to do a simple Automated Parking Assist demo using our Lexus 450H vehicle.
Currently we are facing deviation in trajectory following with respect to lateral movement.
PFA for the video and calibration map data that we are using.
accel_map.csv
brake_map.csv
steer_map.csv

And we are using default params from autoware.universe wrt to mpc , pid controllers and raw_vehicle_convertor.
And for pacmod_interface we are using,
https://github.com/tier4/autoware_individual_params/blob/main/individual_params/config/default/pacmod/pacmod.param.yaml

Need inputs on fine tuning the controllers.
Any inputs are appreciated.
I have already raised a Q&A wrt to calibrating steering map https://github.com/orgs/autowarefoundation/discussions/3344.

HW & SW specs:
Using ubuntu 22.04
Using Autoware.universe and Ros2 humble.
Using Gnss based localization.

recording.mp4