A Real-Time Generalized Nash Equilibrium Framework for Interaction-Aware Autonomous Driving in Mixed Traffic

• URL: http://arxiv.org/abs/2607.21043v1
• Date: Thu, 23 Jul 2026 08:25:01 GMT
• Title: A Real-Time Generalized Nash Equilibrium Framework for Interaction-Aware Autonomous Driving in Mixed Traffic
• Abstract summary: This paper introduces a comprehensive decision-making framework that formulates as a Nash Generalized Equilibrium Problem (GNEP)<n>To solve this problem in real-time, we propose a dedicated solver based on shared Particle Swarm Optimization (PSO)<n> Experimental results demonstrate the system's ability to handle critical scenarios by generating comfortable, human-like trajectories.<n> Benchmarks confirm the solver's operational feasibility, achieving convergence in under 50s m.
• Score: 0.2073116708774899
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Safe and efficient navigation in mixed-traffic environments remains a critical challenge for Autonomous Vehicles (AVs), primarily due to the complex interdependence between the AV's decisions and the unpredictable reactions of human drivers. This paper introduces a comprehensive decision-making framework that formulates the driving interaction as a Generalized Nash Equilibrium Problem (GNEP). Unlike decoupled optimization approaches, this framework explicitly models shared safety and geometric constraints, ensuring that the feasibility of the AV's strategy is dynamically linked to the opponent's actions. To solve this non-convex problem in real-time, we propose a dedicated solver based on Particle Swarm Optimization (PSO). The complete architecture was validated on a test track using a real autonomous Renault Zoé interacting with a human driver. Experimental results demonstrate the system's ability to handle critical scenarios by generating comfortable, human-like trajectories. Benchmarks confirm the solver's operational feasibility, achieving convergence in under 50 ms.

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