*** 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 ***
Authors: L. Zhang, Y. Dong, H. Farah and B. van Arem

TU Delft, Faculty of Civil Engineering and Geosciences, Department of Transport and Planning

Corresponding author: Yongqi Dong
Contact Information:
qiyuandream@gmail.com


***General Introduction***
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


Replace the roundabout_env in the original highway env
 
pip install casadi 


baseline candicates:
    1, stanley method + PID https://zhuanlan.zhihu.com/p/466203887   (control method, tracking the centerline of the road)
    2, pure pursuit +PID https://zhuanlan.zhihu.com/p/343666709        (control method)
    3, MPC  (planning and control method)
    4, MPCC
    5,risk field  (planning method)
    ......

result format:
    1,time
    2,error
    3,risk(social)
    4,smooth
    5,wait time in different SVO

    .....