Avoiding Lane Closeness in Curved Path Generation

[Isaac0424]

Hi everyone,

I am currently working on generating a path that follows an outside-inside-outside trajectory around curves. However, I am facing an issue where the path gets too close to the lane boundaries. I'm unsure of where to start addressing this problem. Could it be related to the Path Boundary, Reference Line, Path Optimizer, Reference Line Smoother, or Trajectory? If anyone has experience solving a similar problem, I would greatly appreciate your guidance.

Thank you in advance!

大家好，

我目前正在生成一条在曲线区域按照外侧-内侧-外侧轨迹行驶的路径。然而，我遇到了路径过于靠近车道边界的问题。我不确定应该从哪里开始解决这个问题。这可能与路径边界、参考线、路径优化器、参考线平滑器或轨迹有关吗？如果有谁有解决类似问题的经验，我非常感激您的指导。

提前感谢！

(I think the issue mentioned at #1360 is similar to the one I'm facing with the qp spline smoother. Could you please explain the tuning methods and the principles behind the qp spline?)