Algorithm 3 Pseudo code for Vehicle controller Algorithm (Code Listing 3: Hand Crafted vehicle controller)

1 vehicle-controller-policy (st){

2 vbrake ← 20

3 vmax ← 18

4 ɸthreshold ← 0.05

5 acc ← Do nothing

6 steer ← Do nothing

7 if (vt > brake){

8     acc ← Brake

9 else if (vt < Vmax){

10    acc ← Accelerate

11 else if (ɸt > ɸthreshold){

12    steer ← TurnLeft}

13 else if (ɸt < −ɸthreshold){

14    steer ← TurnRight

15    return (acc, steer)

16   }

17   }

18 }