How to join a clothoid and an circular arc for a smooth transition?
Hey,
I want to create a trajectory for a right turn driving scenario and have calculated x and y coordinates for a clothoid and a circular arc. I can not use Matlab toolboxes, which is why I used series development of sin and cos for the clothoid. As you can see in the picture, there is a change of curvature where I wanted to match up the clothoid and the arc (around x = 6.3 and y = -0.8).
How can I change my code, so there will be a smooth transition for the curvature? I also attached my code.
For the clothoid I used values given in the Euro NCAP Test Protocol from 2023. The clothoid should start with a radius of 1500 m and end with a radius of 8 m to match the radius of the circular arc. The angles are also given, see the picture below for more info.
Thank you so much!
JaneHey,
I want to create a trajectory for a right turn driving scenario and have calculated x and y coordinates for a clothoid and a circular arc. I can not use Matlab toolboxes, which is why I used series development of sin and cos for the clothoid. As you can see in the picture, there is a change of curvature where I wanted to match up the clothoid and the arc (around x = 6.3 and y = -0.8).
How can I change my code, so there will be a smooth transition for the curvature? I also attached my code.
For the clothoid I used values given in the Euro NCAP Test Protocol from 2023. The clothoid should start with a radius of 1500 m and end with a radius of 8 m to match the radius of the circular arc. The angles are also given, see the picture below for more info.
Thank you so much!
Jane Hey,
I want to create a trajectory for a right turn driving scenario and have calculated x and y coordinates for a clothoid and a circular arc. I can not use Matlab toolboxes, which is why I used series development of sin and cos for the clothoid. As you can see in the picture, there is a change of curvature where I wanted to match up the clothoid and the arc (around x = 6.3 and y = -0.8).
How can I change my code, so there will be a smooth transition for the curvature? I also attached my code.
For the clothoid I used values given in the Euro NCAP Test Protocol from 2023. The clothoid should start with a radius of 1500 m and end with a radius of 8 m to match the radius of the circular arc. The angles are also given, see the picture below for more info.
Thank you so much!
Jane clothoid, circular arc MATLAB Answers — New Questions