Hi,
Where is the origin of SL coordinate? Is this the closest point on the reference line from the current vehicle position or the beginning of the reference curve?
Thank you.
wckorealsh
All 5 comments
The origin of SL coordinate is the center point at a starting point of a lane.
jinghaomiao
on 7 Jun 2018
I have one related question, the lattice planner use x-y coordinate to check for collision, is it correct?
I see there are 3 coordinate systems used in Apollo: x-y,s-l, and Frenet, and it begins the confusion now, can you make a summary of what system should be used in what case?
Thank a lot.
lesun90
on 11 Jun 2018
@lesun90 @jinghaomiao ... Hi Guys.. I have the same confusion.
kk2491
on 29 Jul 2018
@lesun90 @kk2491
Frenet coordinates and SL coordinates are the same thing. SL coordinates can be converted to XY coordinates. Apollo's SL is used for path planning, ST is used for velocity planning, and ST is used for collision detection.
liujiwei777
on 11 Feb 2019
Closing this issue as we have not heard back in a while. Feel free to reopen if you have additional questions. Thanks!
natashadsouza
on 21 May 2019
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Most helpful comment
@lesun90 @kk2491
Frenet coordinates and SL coordinates are the same thing. SL coordinates can be converted to XY coordinates. Apollo's SL is used for path planning, ST is used for velocity planning, and ST is used for collision detection.