Lane change in curved roads

I am working on modifying the example "Lane change for highway driving" and I want to adapt it to work in curved roads as it only works for straight segments of the road. I have modified the block "Update Global Plan and Deviation" and "Trajectory Generator" (Blocks inside LaneChangeTestBench/PlannerandControllerRefMdl/Motion Planner). However, it seems that the block "Trajectory Generator" only accepts roads that have two waypoints, and when I have a curved road, the vehicle only moves up from the first to the second defined waypoint. I modified the block "Update Global Plan and Deviation" to keep updating consistently the Waypoints to provide two at a time, but it doesn't work. I will appreciate any hints on how to solve this problem, or if there is a better approach that I'm missing. Thank you!

Extra: I'm using the Navigation Toolbox, MPC Toolbox, Automated Driving Toolbox

I get the following error when I try to update the next waypoint:

An error occurred while running the simulation and the simulation was terminated

Caused by:

• An error occurred during simulation of Model block 'LaneChangeTestBench/Planner and Controller'.
• MATLAB System block 'PlannerandControllerRefMdl/Motion Planner/TrajectoryGenerator' error occurred when invoking 'stepImpl' method of 'exampleHelperTrajectoryGenerator'. The error was thrown from ' '/usr/local/MATLAB/R2019b/toolbox/nav/navalgs2/trajectoryOptimalFrenet.m' at line 427 '/home/user/LaneChangeForHighwayDrivingExample/exampleHelperTrajectoryGenerator.m' at line 239'.
• Expected maximum longitudinal terminal state to not exceed reference path.

Answer 1

[Ganesh Regoti]

Hi,

I assume you are using MATLAB R2019b version, in this version it is a known issue and the example works only for straight roads. However, this example is updated to work on curved roads in R2020a version. Here is the example link you can refer to

https://www.mathworks.com/help/driving/examples/highway-lane-change.html

Hope this helps!