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Title: Shared steering torque control for lane change assistance : a stochastic game-theoretic approach
Authors: Ji, Xuewu
Yang, Kaiming
Na, Xiaoxiang
Lv, Chen
Liu, Yahui
Keywords: Engineering::Mechanical engineering
Shared Steering Control
Stochastic Dynamic Programming
Issue Date: 2018
Source: 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
Series/Report no.: IEEE Transactions on Industrial Electronics
Abstract: 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.
ISSN: 0278-0046
DOI: 10.1109/TIE.2018.2844784
Rights: © 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:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles
MAE Journal Articles

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