{
  "dt_mpc": 0.1,
  "gains": {
    "acceleration_weight": 0.1,
    "heading_weight": 1.0,
    "idx_start_penalty": 10,
    "lat_position_weight": 1.0,
    "long_position_weight": 2.0,
    "rel_acceleration_weight": 1.0,
    "rel_front_steering_angle_weight": 5.0
  },
  "mpc_implementation": "nonlinear",
  "n_horizon": 20
}