This is a python code that implements the algorithm introduced in the paper "Advanced Planning for Autonomous Vehicles using Reinforcement Learning and Deep Inverse Reinforcement Learning" by Changxi You, Jianbo Lu, Dimitar Filev, and Panagiotis Tsiotras published in Robotics and Autonomous Systems, Vol. 114, pp. 1-18, 2019, doi:10.1016/j.robot.2019.01.003 the code is written in Pyhton3. In Windows you can install Miniconda and then launch the simulator AutonomousCarTruckCurveRoadControl.py Some dependencies might be required when you compile the file. You can figure out what is missing from the prompt. During the implementation of the simulalor, one can start/stop capturing the video screenshots by click the 'v' key on the keyboard. One then could generate a smooth video using the screenshots in the ScreenFolder with the ffmpeg toolbox.