Research on Human-Machine Cooperative Control of Vehicle Lane Change Assistance System Based on Game Theory

When changing lanes in vehicles equipped with vehicle lane changing assistance systems, the conflict between the driver and the steering system occurs due to unnecessary interference from driver input, untimely driver reaction, and driver misoperation. Therefore, this paper establishes the indicators of vehicle lane-changing assistance system and vehicle lane-changing driver indicators, analyzes the game process of the two, and puts forward a cooperative control strategy of vehicle lane-changing assistance system man-machine based on the game theory in order to coordinate the man-vehicle co-steering to avoid the man-machine conflict. Design the vehicle lane changing steering system controller to control the lateral motion of the vehicle, take the two state quantities of vehicle side angle and traverse angular velocity as the driving performance index, take the two state quantities of lateral deviation and azimuthal deviation as the tracking performance index, establish the linear lateral control model of the vehicle lane changing steering system by taking the front wheel angle as the controlling quantity, and design the sliding mode controller based on the theory of sliding mode control, so as to improve the stability of operation of the vehicle in the process of driving.