gear_shift_max_t: 3.0
gear_shift_unit_t: 0.02
gear_shift_period_duration: 2.0
interpolated_pieces_num: 10
initial_gear_check_horizon: 15
heading_search_range: 0.79
heading_track_range: 1.57
distance_search_range: 2.0
heading_offset_to_midpoint: 0.79
lateral_offset_to_midpoint: 0.5
longitudinal_offset_to_midpoint: 0.40
vehicle_box_iou_threshold_to_midpoint: 0.40
speed_replan_distance: 2.0
linear_velocity_threshold_on_ego: 0.1
use_gear_shift_trajectory: true