The research consists of 3 Models we worked. Model-1, Model-2, Model-3. This repo consists of Model-2 which need to be updated with Lane change planner.
The cost libraries are for relative velocities, Gap error and Clear distance.
The costs are calculated as follows:
Th weights of the costs for experimentation are taken as follows:
Currently we are working adding different cost libraries and tunning to get better results. The extension of this project is to export the MATLAB files into C++ and test them in CARLA Simulator. So stay tuned!
- J.Wei and J.M.Dolan, “A robust autonomous freeway driving algo-rithm,” in 2009 IEEE Intelligent Vehicles Symposium. IEEE, 2009, pp.1015–1020.
- J. Wei, J. M. Dolan, and B. Litkouhi, “A prediction-and cost function-based algorithm for robust autonomous freeway driving,” in2010 IEEEIntelligent Vehicles Symposium. IEEE, 2010, pp. 512–517.
- M.Seo-WookPark, Design and Test Decision-Making, Path-Planning, and Control Modules in Traffic Scenarios