highway-env-mpc

Application of model predictive control (MPC) on the highway-env simulator. Controller takes into account predicted trajectories for all other agents in the scene.

Env

Create a conda env and then register using:

pip install -e .

Run simulation

python highwayenv_run.py

Convert image folder into video:

ffmpeg -r 10 -i img_%04d.png -vcodec libx264 -crf 25 -pix_fmt yuv420p test.mp4