├── .gitattributes ├── .gitignore ├── AutonomousVehicleModeling.prj ├── LaneChanger.m ├── ManeuverPlanning ├── Documentation.mlx ├── DrivingScenarios.m ├── ManeuverPlanning.slx ├── ParamOptimiser │ ├── error_d.m │ └── error_d_optimisation.m ├── TestScenarios.m ├── Vehicle Functions │ ├── DecisionMaking │ │ ├── Decision.m │ │ ├── DecisionGeneration.m │ │ ├── DiscreteTrajectory.m │ │ ├── Planner │ │ │ ├── DecisionMaking.m │ │ │ ├── DiscretePlannerFormal.m │ │ │ └── DiscretePlannerManual.m │ │ ├── State.m │ │ ├── TreeSearch.m │ │ └── Values.m │ ├── Helper Functions │ │ ├── Cartesian2Frenet.m │ │ ├── Continuous2Discrete.m │ │ ├── Discrete2Continuous.m │ │ ├── Frenet2Cartesian.m │ │ ├── createRectangleVehicle.m │ │ ├── discretiseContinuousSpace.m │ │ ├── getVehicleCenterPoint.m │ │ └── getVehicleFrontAxleCenterPoint.m │ ├── LocalTrajectoryPlanner │ │ ├── CartesianTrajectory.m │ │ ├── FrenetTrajectory.m │ │ ├── LocalTrajectoryPlanner.m │ │ ├── PurePursuitWPGenerator.m │ │ ├── StanleyPoseGenerator.m │ │ ├── Trajectory.m │ │ └── TrajectoryGeneration.m │ ├── Other │ │ ├── CollisionDetection.m │ │ ├── Frenet2CartesianSystem.m │ │ └── RegisterVehicles.m │ └── ReachabilityAnalysis │ │ ├── LongitudinalReachability.m │ │ ├── ReachabilityAnalysis.m │ │ └── SteeringReachability.m ├── Visualisation │ ├── DigraphTree.m │ ├── DiscretePlanner-ManualDesign.png │ ├── PlatoonWorld.WRL │ └── PlotDrivingScenario.m ├── getFunctionLineNr.m ├── prepare_simulation.m └── run_simulation.m ├── MinimumJerkTrajectory.m ├── PlatoonWorld.WRL ├── README.md ├── VehicleFollowing.slx ├── VehicleFollowing_R2019a.slx ├── img ├── 2D_Animation.png ├── ACCResult.png ├── DASHbord.png ├── PIDControl.png ├── PID_BOLOCK.png ├── adaptiveCruisControl.png └── vehicleModel.png ├── plotVehicle.m └── resources └── project ├── Project.xml ├── ProjectData.type.Info.xml ├── Root.type.Categories ├── FileClassCategory.type.Category.xml └── FileClassCategory.type.Category │ ├── artifact.type.Label.xml │ ├── convenience.type.Label.xml │ ├── derived.type.Label.xml │ ├── design.type.Label.xml │ ├── none.type.Label.xml │ ├── other.type.Label.xml │ └── test.type.Label.xml ├── Root.type.EnvironmentCustomizations └── environment.loadSimulink.type.Command.xml ├── Root.type.Files ├── .gitattributes.type.File.xml ├── .gitignore.type.File.xml ├── LaneChanger.m.type.File.xml ├── ManeuverPlanning.type.File.xml ├── ManeuverPlanning.type.File │ ├── 1.type.DIR_SIGNIFIER.xml │ ├── Documentation.mlx.type.File.xml │ ├── DrivingScenarios.m.type.File.xml │ ├── ManeuverPlanning.slx.type.File.xml │ ├── ParamOptimiser.type.File.xml │ ├── TestScenarios.m.type.File.xml │ ├── Vehicle Functions.type.File.xml │ ├── Visualisation.type.File.xml │ ├── getFunctionLineNr.m.type.File.xml │ ├── prepare_simulation.m.type.File.xml │ └── run_simulation.m.type.File.xml ├── MinimumJerkTrajectory.m.type.File.xml ├── ParamOptimiser.type.File │ ├── 1.type.DIR_SIGNIFIER.xml │ ├── error_d.m.type.File.xml │ └── error_d_optimisation.m.type.File.xml ├── PlatoonWorld.WRL.type.File.xml ├── Vehicle Functions.type.File │ ├── 1.type.DIR_SIGNIFIER.xml │ ├── DecisionMaking.type.File.xml │ ├── DecisionMaking.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── Decision.m.type.File.xml │ │ ├── DecisionGeneration.m.type.File.xml │ │ ├── DiscreteTrajectory.m.type.File.xml │ │ ├── Planner.type.File.xml │ │ ├── Planner.type.File │ │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ │ ├── DecisionMaking.m.type.File.xml │ │ │ ├── DiscretePlannerFormal.m.type.File.xml │ │ │ └── DiscretePlannerManual.m.type.File.xml │ │ ├── State.m.type.File.xml │ │ ├── TreeSearch.m.type.File.xml │ │ └── Values.m.type.File.xml │ ├── Helper Functions.type.File.xml │ ├── Helper Functions.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── Cartesian2Frenet.m.type.File.xml │ │ ├── Continuous2Discrete.m.type.File.xml │ │ ├── Discrete2Continuous.m.type.File.xml │ │ ├── Frenet2Cartesian.m.type.File.xml │ │ ├── createRectangleVehicle.m.type.File.xml │ │ ├── discretiseContinuousSpace.m.type.File.xml │ │ ├── getVehicleCenterPoint.m.type.File.xml │ │ └── getVehicleFrontAxleCenterPoint.m.type.File.xml │ ├── LocalTrajectoryPlanner.type.File.xml │ ├── LocalTrajectoryPlanner.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── CartesianTrajectory.m.type.File.xml │ │ ├── FrenetTrajectory.m.type.File.xml │ │ ├── LocalTrajectoryPlanner.m.type.File.xml │ │ ├── PurePursuitWPGenerator.m.type.File.xml │ │ ├── StanleyPoseGenerator.m.type.File.xml │ │ ├── Trajectory.m.type.File.xml │ │ └── TrajectoryGeneration.m.type.File.xml │ ├── Other.type.File.xml │ ├── Other.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── CollisionDetection.m.type.File.xml │ │ ├── Frenet2CartesianSystem.m.type.File.xml │ │ └── RegisterVehicles.m.type.File.xml │ ├── ReachabilityAnalysis.type.File.xml │ └── ReachabilityAnalysis.type.File │ │ ├── 1.type.DIR_SIGNIFIER.xml │ │ ├── LongitudinalReachability.m.type.File.xml │ │ ├── ReachabilityAnalysis.m.type.File.xml │ │ └── SteeringReachability.m.type.File.xml ├── VehicleFollowing.slx.type.File.xml ├── VehicleFollowing_R2019a.slx.type.File.xml ├── Visualisation.type.File │ ├── 1.type.DIR_SIGNIFIER.xml │ ├── DigraphTree.m.type.File.xml │ ├── DiscretePlanner-ManualDesign.png.type.File.xml │ ├── PlatoonWorld.WRL.type.File.xml │ └── PlotDrivingScenario.m.type.File.xml ├── license.txt.type.File.xml └── plotVehicle.m.type.File.xml ├── Root.type.ProjectPath ├── 1445d206-91f0-4305-a907-976bd7ae28bf.type.Reference.xml ├── 3123fb5f-5b1e-4a0a-8469-489b2337f5c9.type.Reference.xml ├── 5f1cc981-2683-46a2-93a2-034865af0f82.type.Reference.xml ├── 61c8146b-daee-4988-bdac-d856e4eb7855.type.Reference.xml ├── 6be07b68-1a68-409e-b69a-f5c59ff52beb.type.Reference.xml ├── 7f3c4ef2-6f6e-40c4-b9e6-7581650447d5.type.Reference.xml ├── a269be7c-048d-4412-8d56-2a392a6c9f6e.type.Reference.xml ├── aa8776cc-2741-4f2a-b857-56ebc14dea43.type.Reference.xml ├── ae05a75b-efe6-49c1-a0d5-349134580a82.type.Reference.xml ├── 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