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This is the paper's code How Far Ahead Should Autonomous Vehicles Start Resolving Predicted Conflicts? Exploring Uncertainty-Based Safety-Efficiency Trade-Off
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The paper is available online via IEEE Transactions on Intelligent Transportation Systems link (click)
- Python = 3.9
- PyTorch ≥ 1.11
- Shapely = 1.8.5
- Zarr
- The used INTERACTION dataset can be found by Interaction Webpage.
- The data processing process can be found on this page (click)
- Run the
TrainingModels.ipynb
to train the proposed model. - The pre-trained model is in the folder
pretrain
. The encoder and decoder can be directly used.
-The final published version uses a different hybrid method (both IDM simulation and geometry computation), will be updated soon.