This repository is the implementation of the TITS'25 paper:
Agile Decision-Making and Safety-Critical Motion Planning for Emergency Autonomous Vehicles
If you feel interested,
conda create -n IDEAM python=3.7The requirements.txt file should list all Python libraries and they will be installed using:
pip install -r requirements.txtpython solid_test.pypython multi_test.pypython emergency_test.py【1】You can use the 200 pre-randomly generated configuration files in file_save for testing, or alternatively, randomly generate new scenarios for testing.
【2】When recording the time consumption, you need to separately track the statistics for C-DFS and LSGM in the same scene, as LSGM includes C-DFS, using openpyxl within the LSGM will result in incorrect duration statistics. Alternatively, you can use a different statistical method.
【3】Here are some ppts in records, check them if you find them useful.
If you find our code and paper can help, please cite our paper as:
@article{shu2025agile,
title={Agile Decision-Making and Safety-Critical Motion Planning for Emergency Autonomous Vehicles},
author={Shu, Yiming and Zhou, Jingyuan and Zhang, Fu},
journal={IEEE Transactions on Intelligent Transportation Systems},
year={2025},
publisher={IEEE}
}
IDEAM is greatly inspired by the following contributions to the open-source community: iterative-MPC-DHOCBF, Safety-Critical System, MPC-CBF, PythonRobotics