Active Inference Lane Follower

A two-lane MHC demo where the controller must infer whether you want to stay or switch.

Live State
Controller AIF
Intent Stay Left
Target Lane Left
Tracking Aligned
Use A D or ← → to steer
The controller is deciding whether this is drift or a lane change.

AIF Controller View

Beliefs over hidden intent states and the resulting assist policy.

Prediction Error 0.12
Assist Bias +0.00
Stay Left
0.25
Stay Right
0.25
Change Left
0.25
Change Right
0.25

Controller Mode

Compare raw steering, rigid lane centering, and MHC-inspired intent tracking.

Scenario

Choose whether the task is neutral, explicitly prompted, or context-driven by an obstacle.

Free Drive

Open Intention

Nothing forces a change. The controller has to decide whether your steering is correction noise or a true lane-change attempt.

Simulation Controls

How strongly the controller pulls toward its chosen lane belief.

How much change-lane confidence is needed before AIF commits to the new lane.

Short horizons react quickly. Longer horizons treat brief steering as noise.

Tracing Overlay

Hide or reveal the internal controller explanation view.

Input Noise

Add slight instability so the controller has to separate correction from intention.

Controller Rationale

The AIF controller is currently reading your input as lane keeping in the left lane, so it dampens noise and stabilises around the left-lane centre.