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MajidMoghadam2006 / frenet-trajectory-planning-framework

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MOBIL #2

Open qiran1122 opened 3 years ago

qiran1122 commented 3 years ago

Hi, Why does ego keep driving with the car in front without overtaking? Thank you

HosseinTaherian commented 3 years ago

Hi, @qiran1122 , Did you find any solution for it? I have same problem, uncommenting MOBIL did not help also.

Hello @MajidMoghadam2006 , Could you please support on that? thank you.

MajidMoghadam2006 commented 3 years ago

Checkout the optimization cost function in the frenet_optimal_trajectory.py/calc_frenet_paths. I don't remember which version I pushed here. It could be an old version. You can modify the cost function and design your own version that works.

BroGee3 commented 2 years ago

I have the same problem, did you solve it? @HosseinTaherian

HosseinTaherian commented 2 years ago

I solved this issue by adding one term to the cost function to penalize the deviation of ego lane with target lane. It means I defined beforehand the target lane. Basically I did not use MOBIL for lane change but cost function. In this version MOBIL is commented out, it is used just for calculate acceleration for different trajectories.

upupgitup commented 1 year ago

Hello！How did you fixed this problem?Can you teach me? @HosseinTaherian