default_speed_config {
    unit_t: 1.0
    dense_dimension_s: 101
    dense_unit_s: 0.1
    sparse_unit_s: 1.0
    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: 1e4

    default_speed_cost: 1.0e3
    exceed_speed_penalty: 1.0e3
    low_speed_penalty: 10.0
    reference_speed_penalty: 10.0
    keep_clear_low_speed_penalty: 10.0
    accel_penalty: 1.0
    decel_penalty: 1.0

    positive_jerk_coeff: 1.0
    negative_jerk_coeff: 1.0

    max_acceleration: 2.0
    max_deceleration: -2.0
    spatial_potential_penalty: 1.0e2
    enable_multi_thread_in_dp_st_graph: false
    enable_dp_reference_speed: true
}
lane_change_speed_config {
    unit_t: 1.0
    dense_dimension_s: 21
    dense_unit_s: 0.25
    sparse_unit_s: 1.0
    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: 1e4

    default_speed_cost: 1.0e3
    exceed_speed_penalty: 1.0e3
    low_speed_penalty: 10.0
    reference_speed_penalty: 10.0
    keep_clear_low_speed_penalty: 10.0
    accel_penalty: 1.0
    decel_penalty: 1.0

    positive_jerk_coeff: 1.0
    negative_jerk_coeff: 1.0

    max_acceleration: 2.0
    max_deceleration: -2.5
    spatial_potential_penalty: 1.0e5
    is_lane_changing: true
    enable_multi_thread_in_dp_st_graph: false
    enable_dp_reference_speed: true
}