关键词: 人机共驾；博弈论；模型预测控制；纳什均衡

Abstract: A non-cooperative model predictive control strategy is proposed to address the problem of co-piloting control between drivers and automation systems. First, a two-degree-of-freedom vehicle model is used to model the lateral control of the vehicle, then a human-automation co-piloting control model is established based on the trajectory tracking and steering input, and the cost functions of the driver and automation system are proposed. Then, the driver and automation system are described as a non-cooperative game using game theory principles, and the Nash equilibrium solution of the human-automation steering input is obtained. Finally, the influence of different weight matrices in the cost function on the human-automation control is verified through a Simulink/CarSim joint simulation experiment. The research results show that the weight matrix that mainly affects the vehicle trajectory is the lateral deviation weight matrix and the steering input weight matrix, while the steering input increment weight matrix affects the convergence speed of the steering input.Therefore, in the human-automation co-piloting strategy, the vehicle can be driven stably, safely, and efficiently by rationally allocating the size of the weight matrix.

Key words: human-automation co-driving; game theory; model predictive control; Nash equilibrium