search

rodrigoqueiroz / geoscenarioserver

8 stars 1 forks source link

Frenet transformations for acceleration can flip sign instantaneously #22

Closed divitsharma closed 3 years ago

divitsharma commented 4 years ago

Acceleration direction depends on the curvature. The curvature is calculated using three sequential points on the reference path, so it can flip sign instantaneously if one set of three points defines a different curve direction than the next. This is mainly due to noise during map creation.

rodrigoqueiroz commented 3 years ago

This is related to issue #19 With the spline fitting, the reference curve will follow a smooth transition.