  We propose a hybrid decision-making framework for safe and efficient
autonomous driving of selfish vehicles on highways. Specifically, we model the
dynamics of each vehicle as a Mixed-Logical-Dynamical system and propose simple
driving rules to prevent potential sources of conflict among neighboring
vehicles. We formalize the coordination problem as a generalized mixed-integer
potential game, where an equilibrium solution generates a sequence of
mixed-integer decisions for the vehicles that trade off individual optimality
and overall safety.
