Frenet-trajectory generation is done using the PythonRobotics library, The vehicle simulated is a Tesla Model 3, The trajectories are dynamically generated for every 200 meters.
Highlights
- Frenet Trajectory Generation in Carla(0.9.13)
- PID controller for trajectory tracking
- Dynamic and Static Obstacle Avoidance
- Collision free trajectories in presence of traffic
- Lane Change, Lane Merge and Intersection Management with Frenet Frames
Demo: Dynamic Replanning from last waypoint
Obstacle Avoidance
Intersection Management
