Meaning of the parameters

[Morphlng]

Hello! I noticed some sudden movement during control when applying the person_avoidance_frenet configuration.

The steering angle can become unexpectedly large, even during normal driving and not just when avoiding obstacles. I've found some definition of these flags here: frenet_optimal_trajectory/flags.py. However, I've been unable to locate a comprehensive document that explains the purpose of each parameter in this configuration file.

Could you please guide me to additional resources where I can gain a better understanding of these parameters? My goal is to enhance the car's driving experience and ensure smoother operation. Thank you!

[pschafhalter]

Hi, the following resources provide an explanation of the Frenet Optimal Trajectory algorithm and its parameters:

• Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame
• §4.3 of Edward Fang's master's thesis