Code and data underlying the publication: Social-aware Planning and Control for Automated Vehicles Based on Driving Risk Field and Model Predictive Contouring Control: Driving through Roundabouts as a Case Study
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This is the code and data related to the publication:L. Zhang, Y. Dong, H. Farah and B. van Arem, "Social-Aware Planning and Control for Automated Vehicles Based on Driving Risk Field and Model Predictive Contouring Control: Driving Through Roundabouts as a Case Study," 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Honolulu, Oahu, HI, USA, 2023, pp. 3297-3304, doi: 10.1109/SMC53992.2023.10394462. https://doi.org/10.1109/SMC53992.2023.10394462 keywords: {Trajectory planning;Predictive models;Prediction algorithms;Robustness;Planning;Predictive control;Vehicles;Automated vehicles;Planning and control;Social-aware driving;Roundabouts;Driving Risk Field;Model Predictive Contouring Control}, The implementation is based on Python and Highway_env simulation environment https://github.com/Farama-Foundation/HighwayEnv~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The gradual deployment of automated vehicles (AVs) results in mixed traffic where AVs will interact with human-driven vehicles (HDVs). Thus, social-aware motion planning and control while considering interactions …
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