CUED Publications database

Linear quadratic game and non-cooperative predictive methods for potential application to modelling driver-AFS interactive steering control

Na, X and Cole, DJ (2013) Linear quadratic game and non-cooperative predictive methods for potential application to modelling driver-AFS interactive steering control. Vehicle System Dynamics, 51. pp. 165-198. ISSN 0042-3114

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Abstract

This paper is concerned with the modelling of strategic interactions between the human driver and the vehicle active front steering (AFS) controller in a path-following task where the two controllers hold different target paths. The work is aimed at extending the use of mathematical models in representing driver steering behaviour in complicated driving situations. Two game theoretic approaches, namely linear quadratic game and non-cooperative model predictive control (non-cooperative MPC), are used for developing the driver-AFS interactive steering control model. For each approach, the open-loop Nash steering control solution is derived; the influences of the path-following weights, preview and control horizons, driver time delay and arm neuromuscular system (NMS) dynamics are investigated, and the CPU time consumed is recorded. It is found that the two approaches give identical time histories as well as control gains, while the non-cooperative MPC method uses much less CPU time. Specifically, it is observed that the introduction of weight on the integral of vehicle lateral displacement error helps to eliminate the steady-state path-following error; the increase in preview horizon and NMS natural frequency and the decline in time delay and NMS damping ratio improve the path-following accuracy. © 2013 Copyright Taylor and Francis Group, LLC.

Item Type: Article
Uncontrolled Keywords: Active front steering Driver Linear quadratic game Nash solution Non-cooperative model predictive control
Subjects: UNSPECIFIED
Divisions: Div C > Applied Mechanics
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:44
Last Modified: 12 Dec 2014 19:04
DOI: 10.1080/00423114.2012.715653