Planning: params adjustment based on road test.

modules/planning/conf/planning_config.pb.txt

@@ -60,7 +60,7 @@ em_planner_config {
         positive_jerk_coeff: 1.0
         negative_jerk_coeff: 1.0
 
-        max_acceleration: 2.0
+        max_acceleration: 2.5
         max_deceleration: -3.3
 
         st_boundary_config {
@@ -100,7 +100,7 @@ em_planner_config {
     qp_st_speed_config {
         total_path_length: 250.0
         total_time: 8.0
-        preferred_max_acceleration: 2.0
+        preferred_max_acceleration: 2.5
         preferred_min_deceleration: -3.3
         max_acceleration: 3.0
         min_deceleration: -4.5
@@ -113,7 +113,7 @@ em_planner_config {
             jerk_kernel_weight: 1000.0
             follow_weight: 8.0
             stop_weight: 0.2
-            cruise_weight: 0.5
+            cruise_weight: 0.3
             regularization_weight: 0.1
             follow_drag_distance: 17.0
             dp_st_reference_weight: 0.0
@@ -149,8 +149,8 @@ em_planner_config {
         total_path_length: 250.0
         total_time: 8.0
 
-        preferred_accel: 1.5
-        preferred_decel: -2.2
+        preferred_accel: 2.5
+        preferred_decel: -3.3
         max_accel: 2.5
         min_decel: -4.5