Optimal Trajectory in a Frenet Frame

This is optimal trajectory generation in a Frenet Frame.

The cyan line is the target course and black crosses are obstacles.

The red line is predicted path.

High Speed and Velocity Keeping Scenario

This scenario shows how the trajectory is maintained at high speeds while keeping a consistent velocity.

High Speed and Merging and Stopping Scenario

This scenario demonstrates the trajectory planning at high speeds with merging and stopping behaviors.

Low Speed and Velocity Keeping Scenario

This scenario demonstrates how the trajectory is managed at low speeds while maintaining a steady velocity.

Low Speed and Merging and Stopping Scenario

This scenario illustrates the trajectory planning at low speeds with merging and stopping behaviors.

Ref:

• Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame

• Optimal trajectory generation for dynamic street scenarios in a Frenet Frame