I found the path_s is the accumulated distance of discretized_path and frenet_point_s indicates the accumulated distance of reference line. The perceptionSLBoundary is figured at frenet coordinate which refers to reference line . So should the code here be "frenet_point_s" rather than "path_s"
I found the path_s is the accumulated distance of discretized_path and frenet_point_s indicates the accumulated distance of reference line. The perceptionSLBoundary is figured at frenet coordinate which refers to reference line . So should the code here be "frenet_point_s" rather than "path_s"