Corneringtrail

Corneringtrail is a term used in motion planning and robotics to denote the trajectory segment that negotiates a turn by transitioning smoothly from the entry state to the exit state. It describes a parameterized path, together with a speed profile, designed to maintain vehicle stability and passenger comfort while respecting dynamic constraints.

Construction and characteristics: A corneringtrail is generated by a planner that prioritizes curvature continuity and bounded acceleration. Techniques include clothoids (Euler spirals) or spline-based curves to achieve C1 or C2 continuity, paired with speed profiles that satisfy dynamic and friction constraints. The representation includes position, heading, curvature, and velocity as functions of path length or time, with safety and geometry considerations such as collision avoidance and maximum lateral acceleration.

Applications and considerations: In autonomous driving, corneringtrail forms part of the larger trajectory plan used to navigate bends and intersections. In robotics and simulation, it supports realistic motion models. Key considerations are safety margins, surface conditions, and computational efficiency for real-time use.

Relation to related concepts: Corneringtrail is related to trajectory planning, path planning, and curvature-constrained motion. It often intersects with concepts such as Dubins paths, clothoid-based steering, and jerk-minimizing splines.

Etymology and usage: The term blends cornering with trail, signaling a pathway through a turn within sequential route planning and motion-generation discussions. Related topics include path planning, trajectory planning, clothoids, Bezier curves, splines, and Dubins paths.