Partial localization error on amcl navigation [closed]

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We are trying to do some experiment with navigation stacks. We are using sick laser for odometry data with laser scan matcher. But we have faced with interesting problem.

In our experiment path, amcl package localize the vehicle almost perfect. But One of the road bend the localization get crazy which can be seen on the video below at 00:48. We try to tune amcl parameters but it still behave same. youtube. com/watch?v=YpyPWM-e9R0&feature=youtu.be

Our amcl parameters is

     <!-- Run the AMCL Localization -->
<node pkg="amcl" type="amcl" name="AMCL" output="screen">
    <!-- Overall filter parameters -->
    <param name="min_particles" value="1000"/>
    <param name="max_particles" value="6000"/>
    <param name="kld_err" value="0.01"/>
    <param name="kld_z" value="0.99"/>
    <param name="update_min_d" value="0.11"/>
    <param name="update_min_a" value="0.16"/>
    <param name="resample_interval" value="1"/>
    <param name="transform_tolerance" value="0.1"/>
    <param name="recovery_alpha_slow" value="0.001"/>
    <param name="recovery_alpha_fast" value="0.1"/>
    <param name="gui_publish_rate" value="10.0"/>
    <param name="save_pose_rate" value="0.5"/>

    <param name="odom_alpha1" value="0.7"/>
    <param name="odom_alpha2" value="0.7"/>
    <param name="odom_alpha3" value="0.7"/>
    <param name="odom_alpha4" value="0.7"/>
    <param name="odom_frame_id" value="/odom"/>

    <param name="laser_model_type" value="likelihood_field"/>
    <param name="laser_likelihood_max_dist" value="2"/>
    <param name="laser_max_beams" value="30"/>

</node>

Our ros version is hydro.