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For the segment duration keep in mind that speed, time and waylength have to fit. Verify your speed/way/duration with vges =ssegment/tsegmentduration. The segment duration shows the length of a timestep. Transforming it into a timestamp you need to add up all segment durations until the current timestep to the start time: 

MathJax Inline Equation
equationt_i = t_0 + \sum_{n=1}^ {n = i-1}

Sending the trajectory information to the vehicle

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