Uncertainty-based-safety-efficiency-tradeoff-for-AVs

• This is the paper's code How Far Ahead Should Autonomous Vehicles Start Resolving Predicted Conflicts? Exploring Uncertainty-Based Safety-Efficiency Trade-Off

• The paper is available online via IEEE Transactions on Intelligent Transportation Systems link (click)

Requirements:

• Python = 3.9
• PyTorch ≥ 1.11
• Shapely = 1.8.5
• Zarr

Data Preparation

• The used INTERACTION dataset can be found by Interaction Webpage.
• The data processing process can be found on this page (click)

Model Training

• Run the TrainingModels.ipynb to train the proposed model.
• The pre-trained model is in the folder pretrain. The encoder and decoder can be directly used.

Trade-off relationship studies.

-The final published version uses a different hybrid method (both IDM simulation and geometry computation), will be updated soon.