Frenet coordinates are an alternative way to describe a curve in 2D space, this most commonly can be useful while computing displacement of a vehicle’s position on the road or a calculating it’s reference path.
The Frenet coordinates is composed of two coordinates.
s coordinate – representing distance along the road (also known as longitudinal displacement)
d coordinate – representing side position on the road with relative the the center of the reference path, and is also known as lateral displacement.
