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fix: 5.无人驾驶的规划，笛卡尔坐标系的优势 #51

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Dec 29, 2024
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fix: 5.无人驾驶的规划，笛卡尔坐标系的优势 #51

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2 changes: 1 addition & 1 deletion 智能无人系统/5.无人驾驶的规划.md
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Expand Up @@ -229,7 +229,7 @@ $$

#### 相对比笛卡尔坐标系的优势

Frenet 坐标系明显地简化了道路曲线拟合的问题。因为在公路环境下，总是能够简单找到道路的参考线 (即道路中心线)，那么基于参考线的车辆位置表示就可以简单地使用纵向距离和横向距离来描述，同样，两个方向的速度 (和) 的计算也相对简单
Frenet 坐标系明显地简化了道路曲线拟合的问题。因为在公路环境下，总是能够简单找到道路的参考线 (即道路中心线)，那么基于参考线的车辆位置表示就可以简单地使用纵向距离和横向距离来描述，同样，两个方向的速度 ( $\dot{s}$ 和 $\dot{d}$ ) 的计算也相对简单

![坐标系比较](./image/坐标系比较.png)

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