Overtaking Maneuvers on a Nonplanar Racetrack

Thomas Fork, H. Eric Tseng, Francesco Borrelli

Abstract: We leverage game theory and a new vehicle modeling approach to compute overtaking maneuvers for racecars on a nonplanar surface. We solve for equilibria between noncooperative racing agents and demonstrate that by leveraging the novel nonplanar vehicle dynamics, overtaking can be achieved in situations where simpler models can do not provide a winning strategy.