Auto-Driving-Tsinghua: Bai Liu's bachelor thesis project, on optimizing control strategies of auto-driving vehicles at crossroads

# Intersection Routing Strategy for Self-driving Vehicles

Welcome! This project is created by [Bai Liu](http://bailiu.me).

### How to manipulate?
1. Open MATLAB
2. Locate **"Current Folder**" of MATLAB to where the source codes are
3. Run aimed part(s) by editting **"Main.m"** (adding or removing relevant comments)
4. Adjust parameter(s) in **"InitializeGlobal.m"**
5. Run **"Main.m"**

### Structure of the system
The project has three optimization objects: left-turning strategy in single-agent case, left-turning strategy in multi-agent case, and traffic signal display strategy. Besides, several files serve as supporting tools.

1. **Console**

**"Main.m"**: core console, the control center

**"InitializeGlobal.m"**: define and initialize global variables, including parameters of vehicles, road structure and simulation method

2. **Optimization on left-turning strategy in single-agent case**

We adopt Q-Learning method here.

**"OptSingleTurning.m"**: algorithmic implementation of Q-learning

**"CalAction.m"**: calculates possible future states for a given state in Q-learning, to assist **"OptTurning.m"**

**"TestSingleTurning.m"**: helps to illustrate the training result

3. **Optimization on left-turning strategy in multi-agent case**

To be implemented.

4. **Optimization on traffic signal display strategy**

We adopt SA (simulated annealing), GA (genetic algorithm) and PSO (particle swarm optimization) here.

**"OptSignal.m"**: Implement SA, GA and PSO

5. **Investigation on how multiple factors impact the optimization effect**

To be implemented.

6. **Miscellaneous**

**"XroadSimulation.m"**: simulate the traffic conditions of the intersection for a given amount of time

**"CalVehicleNum.m"**: calculate the number of vehicle(s) to be geneerated in a given amount of time
	
	**"GenerateVehicle.m"**: generate vehicle objects

JeffreyChan/Auto-Driving-Tsinghua

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简介

发行版

贡献者

近期动态

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JeffreyChan/Auto-Driving-Tsinghua