The benchmark of using polynomial chaos expansion (PCE) to solve intention-aware control of autonomous vehicles.

It is suggested to download the release branch or the releases for a cleaned up version.

Operating system

• Windows (compatible in general, succeed on 11)
• Linux (compatible in general, succeed on 20.04)
• MacOS (compatible in general, succeed on 13.4.1)

Python Environment

• Python 3.11
• Required Packages: numpy, numpoly, scipy, treelib, matplotlib, importlib-metadata.

Required Libraries

• gurobipy solver (license required, see How to Get a Gurobi License)
• stlpy toolbox (see Documentation or GitHub repository)
• chaospy toolbox (see Documentation or GitHub repository)

1. Install conda following this instruction;

2. Open the conda shell, and create an independent project environment;

conda create --name intentaware python=3.11

3. In the same shell, activate the created environment

conda activate intentaware

4. In the same shell, within the intentaware environment, install the dependencies one by one

conda install -c anaconda numpy
conda install -c conda-forge numpoly
conda install -c anaconda scipy
conda install -c conda-forge treelib
conda install -c conda-forge matplotlib
conda install -c conda-forge importlib_metadata

5. In the same shell, within the intentaware environment, install the libraries gurobipy, stlpy, and chaospy:

python -m pip install gurobipy
pip install stlpy
pip install chaospy

6. Last but not least, activate the gurobi license (See How To). Note that this project is compatible with gurobi Released version 11.0.1. Keep your gurobi updated in case of incompatibility.

• Lead to the example directory;
• Lead to the overtaking or the intersection folder;
• Run the main script main.py;
• Rendering constraints may take up to 1 to 2 minutes, depending on the computational performance;
• Plotted figures automatically saved in the data subfolder.

If using config/record function, be sure to install ffmpeg first and make sure its installation folder shows up in the PATH environmental variable.

This project is with a BSD-3 license, refer to LICENSE for details.