A non-cooperative trajectory-planning method for vehicles with consideration of drivers' characteristics

This paper represents a non-cooperative trajectory-planning algorithm for vehicles with consideration of drivers' characteristics. The driver-vehicle model considering driver's different characteristics is applied to formulate a vehicle to vehicle (V2V) encountering system. The non-cooperative control algorithm is employed to plan collision-free trajectories for these encountering vehicles with initial driving intentions. The noncooperative game is solved with the theory of Nash equilibrium, which is ultimately converted to a standard non-linear Model Predictive Control (MPC) problem. Simulations are conducted on the lane-exchange scenarios with different initial vehicle velocities to verify the proposed algorithm. Results show that the algorithm can accomplish the trajectory planning task with consideration of drivers' characteristics and safety requirement.