32. Polynomial Trajectory Reading (optional)
Polynomial Trajectory Generation
If you are interested in learning more about PTG, I've included a link to a paper (below) titled "Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame". It is short and discusses some interesting (and potentially useful) topics like:
- Cost Functions.
- Differences between high speed and low speed trajectory generation.
- Implementation of specific maneuvers relevant to highway driving like following, merging, and velocity keeping.
- How to combining lateral and longitudinal trajectories.
- A derivation of the transformation from Frenet coordinates to global coordinates (in the appendix).