A state lattice is a discrete representation of the continuous state space, which is the set of all possible states that a system can be in.
- It is a Graph constructed from edges that represent continuous motions connecting discrete state space nodes
A state lattice is just a directed graph.
Frenet frames are used to define the states of the vehicle. Splines can be used to generate smooth paths between the states represented by the nodes in the lattice. Constraints in the context of state lattices are the rules that define which transitions between states are feasible and which are not.