Weighted spline for calculating trajectory with lowest possible lateral acceleration
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I have the following five vectors of equal length for a road user travelling on a specific path:
t: time point (s)
(x,y): position (m)
v: speed (m/s)
e: estimation, boolean. If 0, the values in the data point (t,x,y,v) are more accurate
I want to create a trajectory for the positions and with an overall small lateral acceleration (a = v^2 / r).
The estimated points should have a lower weight than the other points.
Is there a function available in Matlab for this task?
Thans in advance,
Greg Dionne on 25 Feb 2019
I'm not certain if I understood your question correctly, but you could try adapting the approach in the drivingScenario trajectory method if you have the Automated Driving Toolbox.
That uses a clothoid curve interpolant, which I think may be what you are after.