I am assuming that you are referring to the “Highway Trajectory Planning Using Frenet Reference Path” example: https://www.mathworks.com/help/nav/ug/highway-trajectory-planning-using-frenet.html . According to the information provided above, you are using a customized road scenario in the above example and are facing issue in setting the reference path for the Ego vehicle.
In the example, the reference path is calculated as follows:
- The reference path is treated as center of the four-lane highway road scenario loaded from “drivingScenarioTrafficExample” drivingScenario object.
- So referring to the section “Construct Reference Path” in the example, the waypoints mentioned are [x,y] points for the road defined in “drivingScenarioTrafficExample” scenario, as shown below:
waypoints = [0 50; 150 50; 300 75; 310 75; 400 0; 300 -50; 290 -50; 0 -50]; % in meters
refPath = referencePathFrenet(waypoints);
For the customized road scenario, to generate reference path on the road:
- The [x,y] points in “waypoint” variable will need to be adjusted according to the path in your customized road scenario.
- These waypoints can be sampled when designing your scenario using the “Driving Scenario Designer” app.
- Then the points are passed through “referencePathFrenet” object to generate reference path using the specified waypoints.
For more details on “referencePathFrenet” object, refer to the following documentation: https://www.mathworks.com/help/nav/ref/referencepathfrenet.html
I hope this clarifies your query.
