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

doi:10.3785/j.issn.1008-973X.2024.05.013

Journal of ZheJiang University (Engineering Science)

2024, Vol. 58

Issue (5): 1001-1008 DOI: 10.3785/j.issn.1008-973X.2024.05.013

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

Junhui ZHANG1,2,3(

),Xiaoman GUO2,3,Jingxian WANG2,3,Zongjie FU2,3,Yuxi LIU2,3

1. School of Electrical and Automatic Engineering, Changshu Institute of Technology, Suzhou 215500, China
2. Wuxi Internet of Things Innovation Center Limited Company, Wuxi 214029, China
3. Kunshan Department, Jiangsu Internet of Things Innovation Center, Suzhou 215347, China

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Abstract

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.

Key words： intelligent vehicle shared autonomy model predictive control game theory preview offset distance (POD)

Received: 05 May 2023 Published: 26 April 2024

CLC:

U 461

Fund: 江苏省博士后科研资助计划资助项目（2020Z411）.

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	Junhui ZHANG
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Cite this article:

Junhui ZHANG,Xiaoman GUO,Jingxian WANG,Zongjie FU,Yuxi LIU. Shared lane-keeping control based on non-cooperative game theory. Journal of ZheJiang University (Engineering Science), 2024, 58(5): 1001-1008.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2024.05.013 OR https://www.zjujournals.com/eng/Y2024/V58/I5/1001

基于非合作博弈的车道保持共享控制

为了减少共驾过程中的人机冲突，提出基于非合作博弈的人机共驾控制策略. 基于线性二自由度汽车模型，采用一阶微分方程对车道保持共享控制问题进行数学描述，利用非合作博弈理论(NCG)描述双驾双控系统中的驾驶控制权分配问题，即通过非合作博弈方法来解决多个决策者共同作用于同一个动力学系统的共享控制问题. 设计控制权博弈模型，采用预瞄偏移距离(POD)，对驾驶人与智能系统的置信度矩阵进行更新，能够实现驾驶人与智能系统之间驾驶控制权的平稳交接. 基于模型预测控制(MPC)框架，采用二次型代价函数及线性不等式约束的形式，将车道保持共享控制的前轮转角决策问题转化成带约束的在线二次规划问题. 基于驾驶人在环的CarSim/Simulink集成环境，对该控制策略进行验证. 结果表明，该控制策略能够较好地兼顾横向运动控制精度及驾驶人的控制权裕度.

关键词： 智能车辆, 人机共驾, 模型预测控制, 博弈论, 预瞄偏移距离（POD）

Fig.1 Vehicle-road reference model

Fig.2 Non-cooperative driver-automation shared control strategy

Fig.3 Game-theoretical model of control authority

Tab.1 Vehicular dynamics parameters

Fig.4 Driver-in-loop experimental platform

Tab.2 Parameters of driving state characteristics

Fig.5 Comparison of lateral displacements under different driving states

Fig.6 Comparison of control authority under different driving states

Fig.7 Comparison of steering wheel angles under different driving states


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