is_allow_lane_borrowing: true
lane_borrow_max_speed: 10.0
long_term_blocking_obstacle_cycle_threshold: 3
enable_extend_boundary_by_adc: false
enable_ignore_boundary_type: false
path_optimizer_config {
  l_weight: 100.0
  dl_weight: 20.0
  ddl_weight: 300.0
  dddl_weight: 1000.0
  path_reference_l_weight: 20.0
  lateral_derivative_bound_default: 2.0
}
enable_nudge_destination_threshold: 8.0
