Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy
Human–machine shared control of intelligent vehicles is considered an important technology during the industrial application of autonomous driving systems. Among the engineering practices in driver assistance systems, shared steering control is one of the important applications for the human–machine...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-08-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/11/8/838 |
| _version_ | 1827729381419646976 |
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| author | Xiaodong Wu Chengrui Su Liang Yan |
| author_facet | Xiaodong Wu Chengrui Su Liang Yan |
| author_sort | Xiaodong Wu |
| collection | DOAJ |
| description | Human–machine shared control of intelligent vehicles is considered an important technology during the industrial application of autonomous driving systems. Among the engineering practices in driver assistance systems, shared steering control is one of the important applications for the human–machine interaction. However, how to deal with human–machine conflicts during emergency scenarios is the main challenge for the controller’s design. Most shared control approaches usually generate machine-oriented results without enough attention to the driver’s reaction. By taking the human driver and machine system as two intelligent agents, this paper proposes a game-based control scheme to achieve a dynamic authority allocation during the lane changing maneuver. Based on the modeling of predicted trajectories of the human driver, a human-intention-based shared steering control is designed to achieve dynamic Nash game equilibrium. Moreover, a human-oriented shared steering mechanism is employed to not only benefit from automated machine assistance, but also make full play of human contributions. Using quantitative comparative analysis in lane changing scenarios with different human–machine conflicts, a better performance by considering both driving comfort and safety is achieved. |
| first_indexed | 2024-03-10T23:48:02Z |
| format | Article |
| id | doaj.art-f874a1c8dc6340d6aff620d14a953da4 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T23:48:02Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-f874a1c8dc6340d6aff620d14a953da42023-11-19T01:57:24ZengMDPI AGMachines2075-17022023-08-0111883810.3390/machines11080838Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game StrategyXiaodong Wu0Chengrui Su1Liang Yan2School of Mechanical Engineering, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, ChinaInstitute of Intelligent Vehicle, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, ChinaInstitute of Intelligent Vehicle, Shanghai Jiao Tong University, 800 Dongchuan Road, Shanghai 200240, ChinaHuman–machine shared control of intelligent vehicles is considered an important technology during the industrial application of autonomous driving systems. Among the engineering practices in driver assistance systems, shared steering control is one of the important applications for the human–machine interaction. However, how to deal with human–machine conflicts during emergency scenarios is the main challenge for the controller’s design. Most shared control approaches usually generate machine-oriented results without enough attention to the driver’s reaction. By taking the human driver and machine system as two intelligent agents, this paper proposes a game-based control scheme to achieve a dynamic authority allocation during the lane changing maneuver. Based on the modeling of predicted trajectories of the human driver, a human-intention-based shared steering control is designed to achieve dynamic Nash game equilibrium. Moreover, a human-oriented shared steering mechanism is employed to not only benefit from automated machine assistance, but also make full play of human contributions. Using quantitative comparative analysis in lane changing scenarios with different human–machine conflicts, a better performance by considering both driving comfort and safety is achieved.https://www.mdpi.com/2075-1702/11/8/838human–machine interactionshared controlgame controllane changing maneuver |
| spellingShingle | Xiaodong Wu Chengrui Su Liang Yan Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy Machines human–machine interaction shared control game control lane changing maneuver |
| title | Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy |
| title_full | Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy |
| title_fullStr | Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy |
| title_full_unstemmed | Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy |
| title_short | Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy |
| title_sort | human machine shared steering control for vehicle lane changing using adaptive game strategy |
| topic | human–machine interaction shared control game control lane changing maneuver |
| url | https://www.mdpi.com/2075-1702/11/8/838 |
| work_keys_str_mv | AT xiaodongwu humanmachinesharedsteeringcontrolforvehiclelanechangingusingadaptivegamestrategy AT chengruisu humanmachinesharedsteeringcontrolforvehiclelanechangingusingadaptivegamestrategy AT liangyan humanmachinesharedsteeringcontrolforvehiclelanechangingusingadaptivegamestrategy |