Motion Planning using Frenet Reference Path

Can you please provide about how can I run my customized road scenario using Frenet Reference Path. Because, I'm taking reference of the example by using your exmples in the Object Detection and Motion Planning, however I'm not able to find the right waypoint for my customized Ego Vehicle. Herewith, I've attached my waypoint Screen shot and reference link from your website.

Answer 1

[Aishwarya]

Hi @Satheesh,

I am assuming that you are referring to the “Highway Trajectory Planning Using Frenet Reference Path” example: https://www.mathworks.com/help/nav/ug/highway-trajectory-planning-using-frenet.html . According to the information provided above, you are using a customized road scenario in the above example and are facing issue in setting the reference path for the Ego vehicle.

In the example, the reference path is calculated as follows:

• The reference path is treated as center of the four-lane highway road scenario loaded from “drivingScenarioTrafficExample” drivingScenario object.
• So referring to the section “Construct Reference Path” in the example, the waypoints mentioned are [x,y] points for the road defined in “drivingScenarioTrafficExample” scenario, as shown below:

        waypoints = [0 50; 150 50; 300 75; 310 75; 400 0; 300 -50; 290 -50; 0 -50]; % in meters
        refPath = referencePathFrenet(waypoints);

For the customized road scenario, to generate reference path on the road:

• The [x,y] points in “waypoint” variable will need to be adjusted according to the path in your customized road scenario.
• These waypoints can be sampled when designing your scenario using the “Driving Scenario Designer” app.
• Then the points are passed through “referencePathFrenet” object to generate reference path using the specified waypoints.

For more details on “referencePathFrenet” object, refer to the following documentation: https://www.mathworks.com/help/nav/ref/referencepathfrenet.html

I hope this clarifies your query.

[Satheesh]

Thanks!