3gear_shift_period_duration: 2.0
4interpolated_pieces_num: 10
5initial_gear_check_horizon: 15
6heading_search_range: 0.79
7heading_track_range: 1.57
8distance_search_range: 2.0
9heading_offset_to_midpoint: 0.79
10lateral_offset_to_midpoint: 0.5
11longitudinal_offset_to_midpoint: 0.40
12vehicle_box_iou_threshold_to_midpoint: 0.30
13speed_replan_distance:2.0
14linear_velocity_threshold_on_ego: 0.1
15use_gear_shift_trajectory:
true