This repository is for creating a Careful and Competent Driver Model for Merging (CCDM2) scenarios for safety assessment of autonomous vehicles. We combined Monte Carlo Tree Search (MCTS) with Model Predictive Control (MPC) to create a risk-aware, capability-dominant and interpretable driver model.
1, The extracted challenging merging scenarios under \xosc from the ExiD dataset are stored with OpenScenario format, which can be loaded by commonly used simulators, such as esmini. The extracted scenarios with the same format as ExitD are stored under \scenarios\data.
2, The map is stored under \scenarios\maps with OpenDrive format. We recreated the original map to fix some bugs.
3, The simulation results are under \output, where you can find the merging process of different models. If you want to visualize the results, please install esmini first, then typing
./bin/replayer --window 60 60 800 400 --file sim.dat.
| Scenario id | Bare | CCDM2 |
|---|---|---|
| 84_285 |  |
 |
| 86_770 |  |
 |
| 86_1640 |  |
 |
| 91_623 |  |
 |