safe-BC

This repository contains the code for the experiment in the thesis "Imitation Learning for autonomous highway merging with safety guarantees" by Eleonora D'Alessandro

Organization

The Python code for Behavioral Cloning is in the folder "BC". It contains:

• Preprocessing.py -> To preprocess data from NGSIM dataset
• BC.py -> To train the NN and get the weights that perform BC
• Final weights
• Dataset

The MATLAB code for the Simulator is in the folder "Simulator". It contains:

• Dataset
• Simulator.m -> Visualization tool for NGSIM dataset
• Simulator_and_controller.m -> Visualization tool for contolled trajectories
• Final weights

Requirements

Requirements for Python code are the following:

• pandas >= 1.0.5
• tensorflow >= 2.2.0
• matplotlib >= 3.1.3
• scipy >= 1.4.1
• scikit-learn >= 0.23.1
• numpy >= 1.19.0