diff --git a/f1tenth_gym/envs/track/track.py b/f1tenth_gym/envs/track/track.py
index d0bd6585..52e722c6 100644
--- a/f1tenth_gym/envs/track/track.py
+++ b/f1tenth_gym/envs/track/track.py
@@ -237,3 +237,61 @@ def from_refline(x: np.ndarray, y: np.ndarray, velx: np.ndarray,):
             raceline=refline,
             centerline=refline,
         )
+
+    def frenet_to_cartesian(self, s, ey, ephi):
+        """
+        Convert Frenet coordinates to Cartesian coordinates.
+        
+        s: distance along the raceline
+        ey: lateral deviation
+        ephi: heading deviation
+
+        returns:
+            x: x-coordinate
+            y: y-coordinate
+            psi: yaw angle
+        """
+        x, y = self.centerline.spline.calc_position(s)
+        psi = self.centerline.spline.calc_yaw(s)
+
+        # Adjust x,y by shifting along the normal vector
+        x -= ey * np.sin(psi)
+        y += ey * np.cos(psi)
+
+        # Adjust psi by adding the heading deviation
+        psi += ephi
+
+        return x, y, psi
+    
+    def cartesian_to_frenet(self, x, y, phi, s_guess=0):
+        """
+        Convert Cartesian coordinates to Frenet coordinates.
+        
+        x: x-coordinate
+        y: y-coordinate
+        phi: yaw angle
+
+        returns:
+            s: distance along the centerline
+            ey: lateral deviation
+            ephi: heading deviation
+        """
+        s, ey = self.centerline.spline.calc_arclength(x, y, s_guess)
+        if s > self.centerline.spline.s[-1]:
+            # Wrap around
+            s = s - self.centerline.spline.s[-1]
+        if s < 0:
+            # Negative s means we are behind the start point
+            s = s + self.centerline.spline.s[-1]
+
+        # Use the normal to calculate the signed lateral deviation
+        normal = self.centerline.spline._calc_normal(s)
+        x_eval, y_eval = self.centerline.spline.calc_position(s)
+        dx = x - x_eval
+        dy = y - y_eval
+        distance_sign = np.sign(np.dot([dx, dy], normal))
+        ey = ey * distance_sign
+
+        phi = phi - self.centerline.spline.calc_yaw(s)
+
+        return s, ey, phi