Shared lane-keeping control based on non-cooperative game theory
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.
NETL
NSTL
万方数据
维普
