Shared lane-keeping control based on non-cooperative game theory

被引：0
|
作者：
Zhang J. [1 ,2 ,3 ]
Guo X. [2 ,3 ]
Wang J. [2 ,3 ]
Fu Z. [2 ,3 ]
Liu Y. [2 ,3 ]
机构：
[1] School of Electrical and Automatic Engineering, Changshu Institute of Technology, Suzhou
[2] Wuxi Internet of Things Innovation Center Limited Company, Wuxi
[3] Kunshan Department, Jiangsu Internet of Things Innovation Center, Suzhou
来源：
Zhejiang Daxue Xuebao (Gongxue Ban)/Journal of Zhejiang University (Engineering Science) | 2024年 / 58卷 / 05期
关键词：
game theory; intelligent vehicle; model predictive control; preview offset distance (POD); shared autonomy;
D O I：
10.3785/j.issn.1008-973X.2024.05.013
中图分类号：
学科分类号：
摘要：
A driver-automation shared control strategy based on non-cooperative game (NCG) theory was proposed in order to reduce the conflict operations between the driver and intelligent system during the co-driving. The lane-keeping shared control problem was mathematically described by the first-order differential equation based on the linear two degree-of-freedom vehicle model. The NCG theory was employed to resolve the weight allocation problem of the shared control system, where the decision makers would act on the same dynamic system. The driving control authority was designed. Then the smooth transition of driving control authority between the driver and intelligent system was achieved by utilizing the preview offset distance (POD) to update the confidence matrix. The desired front wheel angle of lane-keeping shared control was transformed into an online quadratic programming problem formulated as a quadratic cost function with linear inequality constraints based on the model predictive control (MPC) framework. The shared control strategy was validated on the driver-in-the-loop CarSim/Simulink platform. Results demonstrate that such strategy can well-guarantee lateral tracking accuracy and the priority of the driver’s control authority. © 2024 Zhejiang University. All rights reserved.
引用
收藏
页码：1001 / 1008
页数：7
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