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Safe autonomous vehicles must be able to predict and react to the driversaround them. Previous control methods rely heavily on pre-computation and areunable to react to dynamic events as they unfold in real-time. In this paper,we extend Model Predictive Path Integral Control (MPPI) using differential gametheory and introduce Best-Response MPPI (BR-MPPI) for real-time multi-vehicleinteractions. Experimental results are presented using two AutoRally platformsin a racing format with BR-MPPI competing against a skilled human driver at theGeorgia Tech Autonomous Racing Facility.

Autonomous Racing with AutoRally Vehicles and Differential Games