Skip to content

Improving Safety in Mixed Traffic: A Learning-based Model Predictive Control for Autonomous and Human-Driven Vehicle Platooning

License

Notifications You must be signed in to change notification settings

CL2-UWaterloo/GP-MPC-of-Platooning

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

12 Commits
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

Mixed-Vehicle Platooning Control with a Gaussian Process Learning-Based Model

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:

ARX_simulation

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 simulation
  • MPC_Platoon: the MPC
  • GP_sysmodel: the vehicle model for simulations

GP_ARX_simulation

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 simulation
  • GP_MPC_Platoon: the GP-MPC
  • GP_sysmodel: the vehicle model for simulations

GP_training

The GP_training folder contains the code for training GP models. Specifically, the following files are included:

  • G1.mat: the collected data
  • GP_training: train the standard or vanilla GP model
  • GP_RE_trainForSpares: create the sparse GP model
  • plot_to_pdf: export PDFs of plots

SparseGP_ARX_simulation

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.

About

Improving Safety in Mixed Traffic: A Learning-based Model Predictive Control for Autonomous and Human-Driven Vehicle Platooning

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages