Codebase for adaptive interactive mixed-integer model predictive control (aiMPC): an optimal control-based interactive motion planning algorithm for autonomous vehicles.
- Real-time Software-and-Human-in-the-loop simulation in CARLA.
Mandatory lane change scenario: a stopped truck on the right lane necessitates a lane change for the autonomous vehicle which needs to negotiate with a human-driven vehicle on the left lane.
- Blue vehicle is the ego vehicle and red vehicle is the human-driven neighboring vehicle (NV).
- aiMPC estimates NV's cost online and adapts the MPC.
highinfluence.mp4
lowinfluence.mp4
naturechange.mp4
- αp and αa are the estimated NV cost weights.
- CARLA simulator
- Gurobi
- ROS Noetic
- MATLAB (data analysis)
- Cite as
@misc{bhattacharyya2023interactive,
title={Interactive Motion Planning for Autonomous Vehicles via Adaptive Interactive MPC},
author={Viranjan Bhattacharyya and Ardalan Vahidi},
year={2023},
eprint={2311.05810},
archivePrefix={arXiv},
primaryClass={eess.SY}
}