S型速度曲线轨迹规划还可以参考下面文章链接:
https://rxxw-control.blog.csdn.net/article/details/126335806https://rxxw-control.blog.csdn.net/article/details/126335806带平滑功能的斜坡函数
https://rxxw-control.blog.csdn.net/article/details/128893104