Planning: adjusted params based on road tests. removed the weight of first spline. (#1016)

modules/planning/conf/planning_config.pb.txt

@@ -72,7 +72,7 @@ em_planner_config {
         max_spline_length: 20.0
         time_resolution: 0.1
         regularization_weight: 1.0
-        first_spline_weight_factor: 0.2
+        first_spline_weight_factor: 0.0
         derivative_weight: 500.0
         second_derivative_weight: 1000.0
         third_derivative_weight: 10.0
@@ -83,7 +83,7 @@ em_planner_config {
         history_path_weight: 0.0
         lane_change_mid_l: 0.0
         point_constraint_s_position: 110.0
-        lane_change_lateral_shift: 1.0
+        lane_change_lateral_shift: 1.3
     }
     qp_st_speed_config {
         total_path_length: 250.0