Polyline definition issues

In the user guide, it is stated that a polyline is:

A concatenation of simple line segments across a set of vertices.

To my understanding this means that 2 vertices are connected via a straight line leading to sharp kinks between two line segments.

Questions:

• What is the supposed orientation of a vehicle following a polyline with sharp kinks. The orientation is undefined at the kinks.

• How should an entity with a FollowTrajectoryAction actually follow a polyline?

1. TrajectoryFollowingMode position: drive exactly on the straight line segment? (Also if this means leaving the road)
2. TrajectoryFollowingMode follow: try to match the straight line as good as possible. What are the limitations? Is the vehicle allowed to drive off the road? (If it isn't allowed to leave the road, what is the difference of following a trajectory vs a route?)

• What is the expected speed for time-dependent polylines. Are there any expectations w.r.t to smoothness of the speed/acceleration profile. Are speeds within the line segments expected to be piecewise constant/linear or tool-dependent?

• It needs to be defined what shall happen with orientation angles specified via "positions" in polyline vertices. E.g. Is there expected that any orientation information is used or interpolated linearly. Or shall entities exactly match defined orientation angles at the vertices. If applicable, this needs to be explained also for other trajectory types.

Most of the points are also not clear for other trajectory types. Please clarify this in the model and the user guide.

Thank you in advance.