Social-aware Planning and Control for Automated Vehicles Based on Driving Risk Field and Model Predictive Contouring Control: Driving through Roundabouts as a Case Study

The gradual deployment of automated vehicles (AVs) results in mixed traffic where AVs will interact with human-driven vehicles (HDVs). Thus, social-aware motion planning and control while considering interactions with HDVs on the road is critical for AVs’ deployment and safe driving under various maneuvers. Previous research mostly focuses on...