<commit_before>planner_type : EM
em_planner_config {
    task : TRAFFIC_DECIDER

    task : DP_POLY_PATH_OPTIMIZER

    task : PATH_DECIDER

    task : DP_ST_SPEED_OPTIMIZER

    task : SPEED_DECIDER

    task : QP_SPLINE_PATH_OPTIMIZER
    task : QP_SPLINE_ST_SPEED_OPTIMIZER

    dp_poly_path_config {
        sample_points_num_each_level: 9
        step_length_max: 15.0
        step_length_min: 8.0
        lateral_sample_offset: 0.5
        lateral_adjust_coeff: 0.5
        eval_time_interval: 0.1
        path_resolution: 0.1
        obstacle_ignore_distance: 20.0
        obstacle_collision_distance: 0.2
        obstacle_risk_distance: 2.0
        obstacle_collision_cost: 1e3
    }
    dp_st_speed_config {
        total_path_length: 80
        total_time: 8.0
        matrix_dimension_s: 200
        matrix_dimension_t: 20

        speed_weight: 0.0
        accel_weight: 10.0
        jerk_weight: 10.0
        obstacle_weight: 1.0
        reference_weight: 0.0
        go_down_buffer: 5.0
        go_up_buffer: 5.0

        default_obstacle_cost: 1e10
        obstacle_cost_factor: -300

        default_speed_cost: 1.0
        exceed_speed_penalty: 10.0
        low_speed_penalty: 2.5

        accel_penalty: 2.0
        decel_penalty: 2.0

        positive_jerk_coeff: 1.0
        negative_jerk_coeff: 300.0

        max_acceleration: 4.5
        max_deceleration: -4.5

        st_boundary_config {
            boundary_buffer: 0.1
            high_speed_centric_acceleration_limit: 1.0
            low_speed_centric_acceleration_limit: 1.35
            high_speed_threshold: 20
            low_speed_threshold: 7
            minimal_kappa: 0.00001
            point_extension: 1.0
            lowest_speed: 2.5
        }
    }
    qp_spline_path_config {
        spline_order: 6
        max_spline_length: 20.0
        time_resolution: 0.1
        regularization_weight: 0.1
        derivative_weight: 0.0
        second_derivative_weight: 1000.0
        third_derivative_weight: 10.0
        reference_line_weight: 0
        num_output: 100
        cross_lane_lateral_extension: 1.2
        cross_lane_longitudinal_extension: 50.0
        history_path_weight: 0.0;<commit_msg>planning: adjust high_speed_centric_acceleration_limit parameter to increase turn speed.<commit_after>planner_type : EM
em_planner_config {
    task : TRAFFIC_DECIDER

    task : DP_POLY_PATH_OPTIMIZER

    task : PATH_DECIDER

    task : DP_ST_SPEED_OPTIMIZER

    task : SPEED_DECIDER

    task : QP_SPLINE_PATH_OPTIMIZER
    task : QP_SPLINE_ST_SPEED_OPTIMIZER

    dp_poly_path_config {
        sample_points_num_each_level: 9
        step_length_max: 15.0
        step_length_min: 8.0
        lateral_sample_offset: 0.5
        lateral_adjust_coeff: 0.5
        eval_time_interval: 0.1
        path_resolution: 0.1
        obstacle_ignore_distance: 20.0
        obstacle_collision_distance: 0.2
        obstacle_risk_distance: 2.0
        obstacle_collision_cost: 1e3
    }
    dp_st_speed_config {
        total_path_length: 80
        total_time: 8.0
        matrix_dimension_s: 200
        matrix_dimension_t: 20

        speed_weight: 0.0
        accel_weight: 10.0
        jerk_weight: 10.0
        obstacle_weight: 1.0
        reference_weight: 0.0
        go_down_buffer: 5.0
        go_up_buffer: 5.0

        default_obstacle_cost: 1e10
        obstacle_cost_factor: -300

        default_speed_cost: 1.0
        exceed_speed_penalty: 10.0
        low_speed_penalty: 2.5

        accel_penalty: 2.0
        decel_penalty: 2.0

        positive_jerk_coeff: 1.0
        negative_jerk_coeff: 300.0

        max_acceleration: 4.5
        max_deceleration: -4.5

        st_boundary_config {
            boundary_buffer: 0.1
            high_speed_centric_acceleration_limit: 1.8
            low_speed_centric_acceleration_limit: 1.35
            high_speed_threshold: 20
            low_speed_threshold: 7
            minimal_kappa: 0.00001
            point_extension: 1.0
            lowest_speed: 2.5
        }
    }
    qp_spline_path_config {
        spline_order: 6
        max_spline_length: 20.0
        time_resolution: 0.1
        regularization_weight: 0.1
        derivative_weight: 0.0
        second_derivative_weight: 1000.0
        third_derivative_weight: 10.0
        reference_line_weight: 0
        num_output: 100
        cross_lane_lateral_extension: 1.2
        cross_lane_longitudinal_extension: 50.0
        history_path_weight: 0.0;
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