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.
Version History
Introduced in R2018a