#Interactive Visualization

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1. Closed-Loop Control Timing

   An interactive timing diagram of the periods, phases, and delays among steering-feedback generation, upper-level decision updates, command transmission, and lower-level updates in autonomous lateral control, together with the simplifications this timing abstraction makes relative to a real steering system.

2. Frenet Arc-Length Conversion

   An interactive examination of how closely the oriented arc-length increment of a vehicle trajectory matches the reference-path arc-length increment under different vehicle states.