Hardware-in-the-Loop Evaluation of Game-Theoretic Autonomous Driving

Abstract

This paper evaluates Nash- and Stackelberg-based decision-making controllers for autonomous intersection crossing using a three-stage evaluation pipeline culminating in physical Quanser QCar 2 experiments with hardware-in-the-loop (HIL) execution. The controllers are implemented in MATLAB/Simulink, deployed through Quanser Real-Time Control (QUARC) software, and executed on the onboard NVIDIA Jetson AGX Orin processor. The evaluation includes MATLAB numerical simulation, qualitative validation in Quanser Interactive Labs (QLabs), and physical QCar 2 experiments. The experiments consider symmetric and asymmetric intersection approaches, leader-follower interactions, conflicting Stackelberg role assignments, and non-cooperative obstacle-vehicle behaviors. The results characterize the effects of hierarchy assignment, obstacle-vehicle behavior, and physical implementation on the considered game-theoretic autonomous driving controllers. Comparison between software simulations and hardware experiments further highlights the importance of accounting for sensing and state-estimation uncertainty when translating game-theoretic controllers from simulation to physical systems. A video demonstration of the QLabs simulations and physical QCar 2 hardware experiments is available at https://youtu.be/gkV6lz0twRk.