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How the vehicle moves along the path over time is defined by the speed profile. The speed profile is the function of the vehicle speed over time v(t). When the speed profile is constructed and modified, it is done such that the given maximum speed, minimum speed and maximum acceleration are never exceeded.

When both the speed profile and the path are given, they can be combined to form the trajectory. This is done in two places in the implementation, here for the planning, and here for the execution of the plan.

Collision Test

TODO

Collision Avoidance

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