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The reference trajectory is a function of continuous time, thus . Thus it also implicitly defines other kinematic quantities, such as yaw, yaw rate, curvature, acceleration and jerk, for any point in time. The user must ensure that the reference trajectory is within the limits of the vehicle's capabilities. The curvature should be less than 3/m (read: three per meter), and the acceleration should be less than 5 m/s². If these limits are significantly exceeded, the trajectory controller will deactivate and stop the vehicle.