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@ -45,7 +45,10 @@ Here is an example:
Here, the blue curve represents the trajectory generated by our method, whereas the red curve depicts the trajectory generated by the differential flattening-based method employed for comparative analysis. 
The program evaluates the kinematic state at each point along both trajectories and computes the maximum value for each metric. If successful, the terminal will output the maximum curvature and maximum steering angle rate ($\omega$) for each method.
The program evaluates the kinematic state at each point along both trajectories and computes the maximum value for each metric.
If successful, the terminal will output the maximum curvature and maximum steering angle rate ($\omega$) for each method.
The results indicate that our approach adheres to the kinematic constraint standards, whereas the comparative method violates constraints by more than an order of magnitude.
Note: Due to computational performance and solver randomness, slight deviations in results may occur.