Shared steering torque control for lane change assistance : a stochastic game-theoretic approach
The challenging issue of "human-machine co-pilot" opens up a new frontier to enhance driving safety. However, driver-machine conflicts and uncertain driver/external disturbances are significant problems in cooperative steering system, which degrades the system's path-tracking ability...
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2019
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| Online Access: | https://hdl.handle.net/10356/84339 http://hdl.handle.net/10220/50063 |
| _version_ | 1811690325826076672 |
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| author | Ji, Xuewu Yang, Kaiming Na, Xiaoxiang Lv, Chen Liu, Yahui |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Ji, Xuewu Yang, Kaiming Na, Xiaoxiang Lv, Chen Liu, Yahui |
| author_sort | Ji, Xuewu |
| collection | NTU |
| description | The challenging issue of "human-machine co-pilot" opens up a new frontier to enhance driving safety. However, driver-machine conflicts and uncertain driver/external disturbances are significant problems in cooperative steering system, which degrades the system's path-tracking ability and lowers driving safety. This paper proposes a novel stochastic game-based shared control framework to model steering torque interaction between driver and intelligent electric power steering (IEPS) system. A six-order driver-vehicle dynamic system including driver/external uncertainty is established for path-tracking. Then the affine-linear quadratic (LQ)-based path-tracking problem is proposed to model the maneuvers of driver and IEPS. Particularly, the feedback Nash and Stackelberg frameworks to the affine-quadratic problem are derived by stochastic dynamic programming (SDP). Two cases of co-pilot lane change driving scenarios are studied via computer simulation. The intrinsic relation between stochastic Nash and Stackelberg strategies are investigated based on the results. And the steering-in-the-loop (SIL) experiment reveals the potential of applying the proposed shared control framework to handle driver-IEPS conflicts and uncertain driver/external turbulence. Finally, the co-piloting experiments with human driver further demonstrate the rationality of the game-based pattern between both agents. |
| first_indexed | 2024-10-01T06:02:13Z |
| format | Journal Article |
| id | ntu-10356/84339 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:02:13Z |
| publishDate | 2019 |
| record_format | dspace |
| spelling | ntu-10356/843392020-03-07T13:19:23Z Shared steering torque control for lane change assistance : a stochastic game-theoretic approach Ji, Xuewu Yang, Kaiming Na, Xiaoxiang Lv, Chen Liu, Yahui School of Electrical and Electronic Engineering School of Mechanical and Aerospace Engineering Engineering::Mechanical engineering Shared Steering Control Stochastic Dynamic Programming The challenging issue of "human-machine co-pilot" opens up a new frontier to enhance driving safety. However, driver-machine conflicts and uncertain driver/external disturbances are significant problems in cooperative steering system, which degrades the system's path-tracking ability and lowers driving safety. This paper proposes a novel stochastic game-based shared control framework to model steering torque interaction between driver and intelligent electric power steering (IEPS) system. A six-order driver-vehicle dynamic system including driver/external uncertainty is established for path-tracking. Then the affine-linear quadratic (LQ)-based path-tracking problem is proposed to model the maneuvers of driver and IEPS. Particularly, the feedback Nash and Stackelberg frameworks to the affine-quadratic problem are derived by stochastic dynamic programming (SDP). Two cases of co-pilot lane change driving scenarios are studied via computer simulation. The intrinsic relation between stochastic Nash and Stackelberg strategies are investigated based on the results. And the steering-in-the-loop (SIL) experiment reveals the potential of applying the proposed shared control framework to handle driver-IEPS conflicts and uncertain driver/external turbulence. Finally, the co-piloting experiments with human driver further demonstrate the rationality of the game-based pattern between both agents. Accepted version 2019-10-01T05:06:52Z 2019-12-06T15:43:05Z 2019-10-01T05:06:52Z 2019-12-06T15:43:05Z 2018 Journal Article Ji, X., Yang, K., Na, X., Lv, C., & Liu, Y. (2018). Shared steering torque control for lane change assistance : a stochastic game-theoretic approach. IEEE Transactions on Industrial Electronics, 1-1. doi:10.1109/TIE.2018.2844784 0278-0046 https://hdl.handle.net/10356/84339 http://hdl.handle.net/10220/50063 10.1109/TIE.2018.2844784 en IEEE Transactions on Industrial Electronics © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/TIE.2018.2844784 9 p. application/pdf |
| spellingShingle | Engineering::Mechanical engineering Shared Steering Control Stochastic Dynamic Programming Ji, Xuewu Yang, Kaiming Na, Xiaoxiang Lv, Chen Liu, Yahui Shared steering torque control for lane change assistance : a stochastic game-theoretic approach |
| title | Shared steering torque control for lane change assistance : a stochastic game-theoretic approach |
| title_full | Shared steering torque control for lane change assistance : a stochastic game-theoretic approach |
| title_fullStr | Shared steering torque control for lane change assistance : a stochastic game-theoretic approach |
| title_full_unstemmed | Shared steering torque control for lane change assistance : a stochastic game-theoretic approach |
| title_short | Shared steering torque control for lane change assistance : a stochastic game-theoretic approach |
| title_sort | shared steering torque control for lane change assistance a stochastic game theoretic approach |
| topic | Engineering::Mechanical engineering Shared Steering Control Stochastic Dynamic Programming |
| url | https://hdl.handle.net/10356/84339 http://hdl.handle.net/10220/50063 |
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