Introduction
Cubic spline is a piecewise cubic function that interpolates a set of data points and guarantees smoothness at the data points. So, cubic spline can be used to generate a smooth reference path for autonomous driving. In this entry, I'm introducing a summary of cubic spline algorithm and Python sample program of a path generation with cubic spline interpolation.
Table of contents
- Introduction
- Table of contents
- Source code at GitHub
- Spline
- Cubic Spline Interpolation
- Conditions for Parameters decision
- 1. Constraint condition at edge points of segments
- 2. Continuity condition at boundaries of segments
- 3. Continuity condition of first derivative at boundaries of segments
- 4. Continuity condition of second derivative at boundaries of segments
- 5. Boundary condition of second derivative between start point and end point
- 1D Cubic Spline
- 2D X-Y Path generation with Cubic Spline Interpolation
Source code at GitHub
All source codes are located at the following GitHub repository.
Cubic spline module
github.com
Path generation simulation
github.com