基于非合作博弈的车道保持共享控制

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

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.

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 lanekeeping 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.