基于Frenet参照系的无人车路径规划算法

项目演示：无人车路径规划算法：基于Frenet参照系的无人车路径规划算法_哔哩哔哩_bilibili

本博客付·完整代码数据：

运行截图：

import numpy as np
import matplotlib.pyplot as plt
import copy
import math
from cubic_spline import Spline2D
from polynomials import QuarticPolynomial, QuinticPolynomial

# Parameter
MAX_SPEED = 50.0 / 3.6  # maximum speed [m/s]
MAX_ACCEL = 2.0  # maximum acceleration [m/ss]
MAX_CURVATURE = 1.0  # maximum curvature [1/m]
MAX_ROAD_WIDTH = 7.0