Sample m points on st curve, and get speed limits upper bound and lower bound for each point $j$, e.g., $v_{ubj}$ and $v_{lbj}$ . The constraints is defined as
Sample m points on st curve, and get speed limits upper bound and lower bound for each point $j$, e.g., $v_{ub,j}$ and $v_{lb,j}$ . The constraints is defined as