Simulation of Path Planning Based on Frenet Coordinate System
In the field of traditional path planning,due to the use of Cartesian coordinate system,there are some problems such as defining how far to drive and whether to deviate from the center.Based on this,a Frenet coordinate system is proposed to replace the original traditional Cartesian coordinate system to optimize the local trajectory of the reference path.Under the condition of meeting the set requirements such as safe distance,speed and acceleration,a safe and reliable path trajectory is generated to avoid obstacles and reach the target point,so as to improve the effi-ciency and accuracy of planning.Finally,through pycharm software simulation,adjust the appropriate penalty term and loss function coefficient,so that the path planning takes less time,the lateral acceleration and lateral offset tend to be stable,and produce a more reasonable planning trajectory.By adopting Frenet coordinate system,the vehicle can avoid obstacles in a safe,stable,reliable and comfortable track,so as to meet the actual needs in path planning.
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