Planning: (1) adjust lateral/longitudinal bound in reference_line_smoother to provide near to center reference lines; (2) adjust the speed lower bound from 0.0 to 1e-12 to avoid double precision issue in qp_st_speed_graph.

* Planning: set use_ros_time default conf to false.

* Planning: relaxed the jerk continuity requirement for better robustness.

* Planning: fixed bug when generate init speed profile.

* pnc_map: style changes in pnc_map/path.h/cc

* Planning: Added acceleration constraint in qp_st_spline_speed.

whose max_s or max_t is < 0.

Planning: fixed a bug in getting speed limit. std::lower_bound return iterator to vector end, not the last item.

* prepare to migrate st_boundary to path_obstacle.

Planning: use binary_search to speed up the algorithm to get speed limits in QpSplineStGraph. (#966)

bugfix: fix reference guide line bug
add unit test

Planning: revert changes of speed_limit because t info is needed. fixed some bugs in qp_spline_st_graph.