trajectory
Create actor or vehicle trajectory in driving scenario
Syntax
Description
trajectory(
creates a trajectory for an actor or vehicle, ac
,waypoints
)ac
, from a set of
waypoints.
Note
The trajectory function generates trajectories that have discontinuities
in acceleration between waypoints, resulting in high amounts of jerk. To
generate a smooth, jerk-limited trajectory, use the smoothTrajectory
function instead.
Examples
Input Arguments
Algorithms
The trajectory
function creates a trajectory for an actor to
follow in a scenario. A trajectory consists of the path followed by an object and its
speed along the path. You specify the path using N two-dimensional or
three-dimensional waypoints. Each of the N – 1 segments between
waypoints defines a curve whose curvature varies linearly with distance along the
segment. The function fits a piecewise clothoid curve to the
(x, y) coordinates of the waypoints by
matching the curvature on both sides of the waypoint. For a nonclosed curve, the
curvature at the first and last waypoint is zero. If the first and last waypoints
coincide, then the curvatures before and after the endpoints are matched. The
z-coordinates of the trajectory are interpolated using a
shape-preserving piecewise cubic curve.
The generated trajectory results in a piecewise constant-acceleration profile for each
segment between waypoints. These segments have acceleration discontinuities between
them. To avoid discontinuities in acceleration, use the smoothTrajectory
function to generate trajectories instead.