planning: adjust replan threshold and fix compile warning.

modules/planning/common/path_obstacle.cc

@@ -327,6 +327,7 @@ ObjectDecisionType PathObstacle::MergeLateralDecision(
   DCHECK(false) << "Does not have rule to merge decision: "
                 << lhs.ShortDebugString()
                 << " and decision: " << rhs.ShortDebugString();
+  return lhs;
 }
 
 bool PathObstacle::HasLateralDecision() const {

modules/planning/common/planning_gflags.cc

@@ -102,9 +102,9 @@ DEFINE_double(max_collision_distance, 0.1,
               "considered as collision if distance (meters) is smaller than or "
               "equal to this (meters)");
 
-DEFINE_double(replan_lateral_distance_threshold, 0.5,
+DEFINE_double(replan_lateral_distance_threshold, 5.0,
               "The distance threshold of replan");
-DEFINE_double(replan_longitudinal_distance_threshold, 4.0,
+DEFINE_double(replan_longitudinal_distance_threshold, 5.0,
               "The distance threshold of replan");
 DEFINE_bool(estimate_current_vehicle_state, true,
             "Estimate current vehicle state.");
@@ -179,7 +179,7 @@ DEFINE_double(min_stop_distance_obstacle, 3.0,
               "min stop distance from in-lane obstacle (meters)");
 DEFINE_double(stop_distance_destination, 0.5,
               "stop distance from destination line");
-DEFINE_double(stop_distance_traffic_light, 0.5,
+DEFINE_double(stop_distance_traffic_light, 3.0,
               "stop distance from destination line");
 DEFINE_double(destination_check_distance, 5.0,
               "if the distance between destination and ADC is less than this,"