汽车工程学报2025，Vol.15Issue(5)：718-734,17.DOI:10.3969/j.issn.2095-1469.2025.05.08
基于非合作Nash博弈的车道偏离辅助人机协同控制策略研究
Human-Machine Cooperative Control Strategy for Lane Departure Assistance Using Non-Cooperative Nash Game Theory
摘要
Abstract
Different desired paths chosen by lane departure assistance systems and drivers with varying driving styles often create decision conflicts in human-machine shared driving.To address this issue,a human-machine cooperative control strategy for lane departure assistance was developed based on non-cooperative Nash game theory.A lane departure decision-making algorithm based on lane-crossing time was designed,along with a lane-keeping controller using a model predictive control algorithm.The paper assigned different lane departure correction paths according to driver style and treated the steering control decisions of both the driver and the assistance system as a non-cooperative Nash game.Front wheel steering angle,vehicle speed,and preview deviation were used as fuzzy variables to determine the human-machine cooperative control factor.And the controller dynamically adjusted the Nash weights to output the Nash equilibrium solution for collaborative steering control.CarSim software simulation results show that the proposed system balances the driver and assistance decisions effectively.By adjusting the Nash weights,the assistance system helps the driver correct lane departures,preventing vehicle deviation while reducing the system's intervention in the driver's steering.A hardware-in-the-loop test on a LabVIEW/RT platform further validates the effectiveness of the proposed human-machine cooperative control strategy,which improves both vehicle safety and driving comfort.关键词
人机共驾/决策冲突/车道偏离/Nash博弈/驾驶权分配Key words
human-machine cooperative driving/decision conflict/lane departure/Nash game/driving authority allocation分类
交通工程引用本文复制引用
王宁,高振刚,李鹏洲,蒲德全..基于非合作Nash博弈的车道偏离辅助人机协同控制策略研究[J].汽车工程学报,2025,15(5):718-734,17.基金项目
内蒙古自治区关键技术攻关项目(2020GG0200) （2020GG0200）
内蒙古自治区自然科学基金项目(2021MS05051) （2021MS05051）
内蒙古自治区高等学校科学研究重点项目(NJZZ21058) （NJZZ21058）
