<p>To alleviate the shared control conflicts between a driver and an automation system for the autonomous vehicle, a novel driver-automation shared control strategy is proposed in this paper. To be more special, a driver-automation shared control dynamic model considering the driver neuromuscular is developed, and its uncertain parameters are identified by the hierarchical least square method. Based on this, there is a model predictive control-based lane keeping assistant system to steer the autonomous vehicle with the driver. Then, a meta game-centric shared control strategy is established, and its optimal revenue value is applied to assign the shared control authority. Finally, a hardware-in-the-loop experiment is customized and conducted by using a driving simulator, an electromyography equipment and a dSPACE module. The experimental results demonstrate the effectiveness of the proposed shared control strategy.</p>

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Meta game-centric driver-automation shared control with driver neuromuscular dynamics for autonomous vehicles

  • Songsong Zhang,
  • Zhiqiang Zuo,
  • Yijing Wang,
  • Yongtao Wang,
  • Yanhong Wu

摘要

To alleviate the shared control conflicts between a driver and an automation system for the autonomous vehicle, a novel driver-automation shared control strategy is proposed in this paper. To be more special, a driver-automation shared control dynamic model considering the driver neuromuscular is developed, and its uncertain parameters are identified by the hierarchical least square method. Based on this, there is a model predictive control-based lane keeping assistant system to steer the autonomous vehicle with the driver. Then, a meta game-centric shared control strategy is established, and its optimal revenue value is applied to assign the shared control authority. Finally, a hardware-in-the-loop experiment is customized and conducted by using a driving simulator, an electromyography equipment and a dSPACE module. The experimental results demonstrate the effectiveness of the proposed shared control strategy.