acc_weight: 5.0
jerk_weight: 5.0
lat_acc_weight: 1000.0
s_potential_weight: 0.05
ref_v_weight: 1.0
ref_s_weight: 50.0
soft_s_bound_weight: 1e3
use_warm_start: true
use_smoothed_dp_guide_line: true
use_soft_bound_in_nonlinear_speed_opt: false