CUED Publications database

Game-theoretic modelling of shared steering control between driver and AFS considering different human-machine goal consistency

Ji, X and Liu, Y and Liu, Y and Ma, B and Wu, J and Na, X (2017) Game-theoretic modelling of shared steering control between driver and AFS considering different human-machine goal consistency. In: IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, -- to -- pp. 4577-4582..

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Abstract

Driver-in-the-loop and different human-machine goal consistency should be considered when designing driver-AFS interactive steering control system. In this paper, a novel design approach, namely dynamic game theory is used for the modelling of shared steering control between driver and AFS. Linear Quadratic dynamic optimization approach is used to derive the non-cooperative Nash, non-cooperative Stackelberg, cooperative Pareto equilibrium steering control strategies of the driver and the AFS controller. Two different driving scenarios, where driver's target path has high or low consistency with AFS's are simulated and corresponding simulation results are presented respectively. It was found that different control strategies result in distinct steering behaviors under different driving scenarios. Furthermore, the most interesting simulation result is that using the principle of Stackelberg equilibrium can effectively decrease the steering wheel angle applied by driver in the driving scenario where driver's target path has high consistency with AFS's compared with two other control strategies.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Uncontrolled Keywords: dynamic game theory linear quadratic optimization human-machine goal consistency shared steering control
Subjects: UNSPECIFIED
Divisions: Div C > Applied Mechanics
Depositing User: Cron Job
Date Deposited: 19 Apr 2018 01:42
Last Modified: 13 Apr 2021 07:22
DOI: 10.1109/IECON.2017.8216788