Human–Machine Shared Steering Control for Vehicle Lane Changing Using Adaptive Game Strategy

Human–machine shared control of intelligent vehicles is considered an important technology during the industrial application autonomous driving systems. Among engineering practices in driver assistance systems, steering one applications for human–machine interaction. However, how to deal with conflicts emergency scenarios main challenge controller’s design. Most approaches usually generate machine-oriented results without enough attention driver’s reaction. By taking human and machine system as two agents, this paper proposes a game-based scheme achieve dynamic authority allocation lane changing maneuver. Based on modeling predicted trajectories driver, human-intention-based designed Nash game equilibrium. Moreover, human-oriented mechanism employed not only benefit from automated assistance, but also make full play contributions. Using quantitative comparative analysis different conflicts, better performance by considering both comfort safety achieved.