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船舶远程驾驶人机主从博弈控制方法研究

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针对船舶远程驾驶场景下的人机目标非一致性问题,本文设计了系统人主机辅的运行模式,提出一种主从博弈框架下的共享控制方法,将船舶协同避碰转向任务中的人机交互作用描述为完全信息条件下的非合作博弈关系,通过构造驾驶员和共驾控制器的状态空间推导主从博弈的Stackelberg微分对策,使用Fan-GFlicksberg不动点定理证明纳什均衡解的存在性与唯一性.根据驾驶风格和操纵技能预分配驾驶权重,基于模型预测控制方法设计轨迹跟踪器,采取反馈校正方式在有限时域内滚动优化,综合考虑船舶安全航行边界、碰撞风险和人机冲突程度在线进行调节.选取船舶横向偏移误差和驾驶员操作负荷等评价指标,在内河操纵环境下验证了方法的有效性.仿真结果表明:本文所提出的主从博弈控制方法能够为具备不同驾驶风格和操纵技能的作业人员提供个性化辅助,当驾驶员和共驾控制器发生意图冲突时,根据航行风险对预分配权重进行调节,在确保航行安全的前提下使船舶尽可能满足驾驶员的操纵意图.
Stackelberg Game-based Control Method for Driver-automation Collaboration in Ship Remote-control
To solve the problem of human-machine control objective non-consistency in the ship remote-control process,this paper proposes a shared steering control method within the Stackelberg framework and considers the human-dominated and machine-auxiliary operating mode of the system.The human-machine interaction in ship collision avoidance collaborative steering task is described as a non-cooperative game relationship under complete information conditions.By constructing the state space of the driver and the co-pilot controller,the differential strategy is derived for Stackelberg game,and the uniqueness and existence of Nash equilibrium solution is proved with Fan-Glicksberg fixed points theorem.Based on model predictive control method,the trajectory tracking controller is designed with pre-allocating driving weight for different driving style and maneuvering skills,rolling and optimization in a finite time domain through feedback correction.And the control authority will be adjusted online in combination of the safety navigation boundary,collision risk and degree of human-machine conflicts.Taking the lateral displacement and driver's operational load as evaluation indexes,the effectiveness of method is verified in inland maneuvering scenarios.Simulation results show that the proposed method could provide personalized assistance for remote operators with different driving styles and maneuvering skills,while there exists intention conflict between the driver and the co-pilot controller,it can adjust the pre-allocated weight in accordance with the navigating risk dynamically,so as to make the ship motion more compliant with driver's maneuvering intentions under the premise of ensuring navigating safety.

waterway transportationship remote-controldriver-automation collaborationshared steering controlmodel predictivecontrol authority adjustment

李晨、严新平、刘佳仑、黄亚敏、李诗杰

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武汉理工大学水路交通控制全国重点实验室,武汉 430063

武汉理工大学交通与物流工程学院,武汉 430063

武汉理工大学国家水运安全工程技术研究中心,武汉 430063

武汉理工大学智能交通系统研究中心,武汉 430063

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水路运输 船舶远程驾驶 人机协同 共享转向控制 模型预测 控制权重调节

国家重点研发计划国家自然科学基金国际(地区)合作与交流重点项目国家自然科学基金

2022YFB43014025192010501452272425

2024

10.16097/j.cnki.1009-6744.2024.03.003

交通运输系统工程与信息
中国系统工程学会

交通运输系统工程与信息

CSTPCD北大核心
影响因子：0.664
ISSN：1009-6744
年,卷(期)：2024.24(3)
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