planning: reduce reference line length based on ADC speed and skip ST calculation for out of range obstacles.

Planning: added right of way status in planning output. Currently, only set right of way when our car is protected by a green light.

Planning: passed 0070. eliminated the use of speed data for calculations in dp_poly_path, because it can introduce multiple issues that are hard to solve at the current stage. We can explore it in future development.

Planning: reduced the number of average point of kappa from 10 to 4 to reduce speed and vehicle shaking. (#1412)

Planning: re-align time of each trajectory point so that we can use the publishing time as the timestamp for planning module -- In this way, every modules in Apollo has a consistent way in defining 'timestamp' in header.

Planning: Use AddPointAngleConstraint in reference line smoother to avoid heading differences. (#1239)

Planning: adjust planning distance with reference to vehicle speed, so that a smoother transition between cycles is expected.

Planning: replace equality boundary by inequality boundary with very small ranges to improve stability.

Planning: fixed the trajectory deviation bug by increasing reference line weight and adjusting low speed range. (#1167)

Planning: lateral shifted ref_l for qp_path, so that every problem with different l are normalized to the same problem with init l = 0.0.