Proactive Motion Planning Codes for Emergency Collision Avoidance in Highway Scenarios

This repository includes local motion planners for<strong style="color:rgb(31, 35, 40);background-color:rgb(255, 255, 255);"> emergency collision avoidance</strong> in automated driving systems. These planners incorporate<strong style="color:rgb(31, 35, 40);background-color:rgb(255, 255, 255);"> stochastic prediction models for other road users</strong> (e.g. vehicles or static obstacles) and <strong style="color:rgb(31, 35, 40);background-color:rgb(255, 255, 255);">a dynamic prediction model for the ego vehicle</strong>. Further, the planners are formulated as <strong style="color:rgb(31, 35, 40);background-color:rgb(255, 255, 255);">model predictive control optimization problems</strong> and are designed to find a reference trajectory for the ego vehicle to avoid collision with the road users/obstacles and road boundaries while taking into account the uncertainty in predicting the behavior of other road users. <br>