This reverts commit f8447a36180bee486c2b66429f7169fb4a7f90a9.

(1)  Planning: improved the speed planning consistency by estimating speed limits with current speed. (2) bug fix in drivers. (#1913)

* Planning: improved the speed planning consistency by estimating speed limits with current speed.

* Drivers and Perception: bug fix.

* Planning: consider close obstacles.

line swing.

Planning: fixed an inconsistent trajectory issue by using historical speed data to estimate travel distance at each evaluate time. (#1833)

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.