NGSIM_flexible_Testbed

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NGSIM_flexible_Testbed

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A testbed for the digital twin with autonomous driving controller/algorithms based on NGSIM dataset

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// repository documentation

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# NGSIM_flexible_Testbed
A testbed for the autonomous driving controller/algorithms based on NGSIM datase

# What can this testbed do
1. test your high-level decison-making algorithm (e.g. lane-change decision) with real traffic data
2. test your low-level dynamic controller (e.g. vehicle following controller) with real traffic data 
3. visualize your results with the animations

# What are already in the codes
1. NGSIM data processing part
3. Neighbor vehicles motion state tracking part (it can provide (x,y) informaton of the front car, left-front car, left rear car, right-front car, and right-rear car)
4. pre-defined vehicle dynamic model (bicycle model) ```Utils/vehicle_dynamics.py```
5. pre-defined low-level controllers: vehicle speed controller, vehicle following controller, lane-keeping controller, and lane-changing controller ```Utils/low_level_controller.py```
6. pre-defined psuedo-lane-change decision making part
7. animation part

# How to play with this testbed
1. choose which car you are interested in (the testbed will duplicate a car/digital twin operated under your algorithms) ```python data_processing.py```
2. design/modify the high-level or low-level controller whichever you want 
3. run the simulation ```python simulator.py```

![](https://raw.githubusercontent.com/FangjianLi/NGSIM_flexible_Testbed/master/experiment.gif)

blue car is the original one (from NGSIM dataset) and red car is the duplicated car/digital twin (with the controllers)

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