planning: remove lateral acc check in trajectory check.

modules/planning/common/planning_gflags.cc

@@ -70,7 +70,7 @@ DEFINE_double(output_trajectory_time_resolution, 0.05,
 DEFINE_bool(enable_trajectory_check, true,
             "Enable sanity check for planning trajectory.");
 
-DEFINE_double(speed_lower_bound, 0.0, "The lowest speed allowed.");
+DEFINE_double(speed_lower_bound, -0.02, "The lowest speed allowed.");
 DEFINE_double(speed_upper_bound, 40.0, "The highest speed allowed.");
 
 DEFINE_double(longitudinal_acceleration_lower_bound, -4.5,

modules/planning/constraint_checker/constraint_checker.cc

@@ -56,16 +56,6 @@ bool ConstraintChecker::ValidTrajectory(
       return false;
     }
 
-    double lat_a = lon_v * lon_v * p.path_point().kappa();
-    if (!WithinRange(lat_a, -FLAGS_lateral_acceleration_bound,
-                     FLAGS_lateral_acceleration_bound)) {
-      AERROR << "Lateral acceleration at relative time " << t
-             << " exceeds bound, value: " << lat_a << ", bound ["
-             << -FLAGS_lateral_acceleration_bound << ", "
-             << FLAGS_lateral_acceleration_bound << "].";
-      return false;
-    }
-
     double kappa = p.path_point().kappa();
     if (!WithinRange(kappa, -FLAGS_kappa_bound, FLAGS_kappa_bound)) {
       AERROR << "Kappa at relative time " << t