This repository contains the code for two papers focused on enhancing safety in mixed-traffic platooning with autonomous and human-driven vehicles. Specifically, the papers are:
- Improving Safety in Mixed Traffic: A Learning-based Model Predictive Control for Autonomous and Human-Driven Vehicle Platooning
- Learning-Based Modeling of Human-Autonomous Vehicle Interaction for Enhancing Safety in Mixed-Vehicle Platooning Control
The ARX_simulation folder contains the code for simulating a platoon of vehicles using MPC with an ARX model, where the simulated vehicle is an ARX+GP model. Specifically, the following files are included:
MPC_Platoon_simulation
: the main file for running the simulationMPC_Platoon
: the MPCGP_sysmodel
: the vehicle model for simulations
The GP_ARX_simulation folder contains the code for simulating a platoon of vehicles using MPC with an ARX+GP model, where the simulated vehicle is also an ARX+GP model. Specifically, the following files are included:
GP_MPC_Platoon_simulation
: the main file for running the simulationGP_MPC_Platoon
: the GP-MPCGP_sysmodel
: the vehicle model for simulations
The GP_training folder contains the code for training GP models. Specifically, the following files are included:
G1.mat
: the collected dataGP_training
: train the standard or vanilla GP modelGP_RE_trainForSpares
: create the sparse GP modelplot_to_pdf
: export PDFs of plots
The SparseGP_ARX_simulation
folder contains two subfolders: ARX_simulation
and SparseGP_simulation
. The ARX_simulation
is similar to the previous one, except for some variable changes. In SparseGP_simulation
, the MPC uses a sparse GP+ARX model, while the simulated vehicle remains an ARX+GP model.