Is it possible to customizing the Frenet path planning in Highway Trajectory?

If it's possible. I've some plan to customizing. First thing is, I need to implement the specific Right and Left lane change funtion like for example, I'm planning to create the user input method to collectiong the information from user and then accordings to the users input, trajectories planning the lane change. In the meanwhile, If there is any colliding path is found during in this lane change scenario. The Ego Vechile must following the Lead vehcile follower in the specific Lane.

Answer 1

[Shishir Reddy]

Hi Satheesh

Yes, it is possible.

To customize Frenet path planning for highway trajectory to include specific right and left lane change functions based on user input, firstly a method should be created to gather user input for desired lane change direction. Based on this input, candidate trajectories can be generated. Then a collision detection mechanism should be implemented to check for the collision-free trajectories and change the lane accordingly. If any colliding path is found during this lane change scenario, fallback mechanism should be implemented where the ego vehicle continues to follow the lead vehicle in the current lane.

For more information regarding customizations in Highway Trajectory Planning using Frenet Reference Path, kindly refer the following documentation -

https://www.mathworks.com/help/nav/ug/highway-trajectory-planning-using frenet.html#HighwayTrajectoryPlanningUsingFrenetReferencePathExample-17

I hope this helps.