Generates a jerk minimized polynomial trajectory for an autonomous vehicle to follow.
This plot shows the s (x-axis) and d(y-axis) trajectories followed by a vehicle in traffic (red) and a self driving car (blue).
In above figure self-driving car (blue color) has been instructed to follow target vehicle (red-color) while staying 10 meters behind and as you can see it merges with same path as of target vehicle but stays behind.