Control of interacting vehicles using model-predictive control, generalized Nash equilibrium problems, and dynamic inversion

摘要

The paper presents a control concept for interacting vehicles in a road network. The approach combines a high-level controller for the generation of collision-free trajectories and a low-level dynamic inversion controller for path tracking. The high-level controller uses model-predictive control for generalized Nash equilibrium problems, which are used to coordinate the vehicles. The control concept was implemented and validated on scale robots and experimental results are discussed.