111222222222222 / gp-mpc-of-platooning Goto Github PK

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 simulation
• MPC_Platoon: the MPC
• GP_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 simulation
• GP_MPC_Platoon: the GP-MPC
• GP_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 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

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.