The Frenet Frame is derived from the centre line of the lane that laneletlib produces.
However, most maps don't have enough points and curves are very rough.
Even if the vehicle motion is smooth during the trajectory generation, when the path is transformed back to simulation frame it becomes rough in curves.
This also generates noise in the transformations for acceleration.
Suggested solution: Instead of using the center line as it is, fit a spline to the global path, and generate a denser and equally distributed set of points along this line. This will smooth the vehicle orientation during curves.
The Frenet Frame is derived from the centre line of the lane that laneletlib produces. However, most maps don't have enough points and curves are very rough. Even if the vehicle motion is smooth during the trajectory generation, when the path is transformed back to simulation frame it becomes rough in curves. This also generates noise in the transformations for acceleration. Suggested solution: Instead of using the center line as it is, fit a spline to the global path, and generate a denser and equally distributed set of points along this line. This will smooth the vehicle orientation during curves.