Proactive Motion Planning Codes for Emergency Collision Avoidance in Highway Scenarios

This repository includes local motion planners for emergency collision avoidance in automated driving systems. These planners incorporate stochastic prediction models for other road users (e.g. vehicles or static obstacles) and a dynamic prediction model for the ego vehicle. Further, the planners are formulated as model predictive control optimization problems 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.