Switching Strategies of Collision Avoidance and Tracking Control for Vehicles Based on Non-cooperative Game and Model Predictive Control

This paper proposes two kinds of switching strategies for a vehicle to avoid colliding with another vehicle and to track to a given reference trajectory. From a pursuit-evasion game, we can lead the collision avoidance procedure based on a so-called backward reachable set And, to achieve the trajectory tracking, we employ a model predictive control. The switching strategies unify the collision avoidance and the model predictive control methods. Here, the switching structure may lead to chattering. So, the strategy that we propose finally has a hysteresis to adjust a frequency of the chattering. In a numerical verification, we illustrate some simulation results when the proposed algorithms are used.