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ApolloAuto / apollo

An open autonomous driving platform
Apache License 2.0
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questions about lon_controller.cc(control module) #12836

Open ManXiaoMi opened 3 years ago

ManXiaoMi commented 3 years ago

In lon_controller.cpp, When we try to calculate the match_point velocity and station, why we use trajectory_analyzer->ToTrajectoryFrame(）this function? And i don't know how do i understand the follow equation ptr_s_dot = v cos_delta_theta / one_minus_kappa_r_d;

Thank you very much for your reading.

jilinzhou commented 3 years ago

Please refer to the paper: https://www.researchgate.net/publication/224156269_Optimal_Trajectory_Generation_for_Dynamic_Street_Scenarios_in_a_Frenet_Frame