Stochastic non‐cooperative game for safety control of shared control vehicle in uncertain environments

There are great challenges in the driving of human–machine shared control vehicles (HSCVs) uncertain environments. Aiming at solving collision avoidance problem HSCV considering uncertainty surrounding (SVs), a cooperative method for based on stochastic non-cooperative game (SNCG) is proposed. This realizes safe combined with prediction environment and constructs interaction model between driver an automation system theory. Firstly, vehicle–driver coupling driver's lateral longitudinal operation characteristics established. Next, utilizing equation, SV motion realized. Then, safety constraints established by chance saturation actuators. Finally, distributed predictive (DSMPC) method, coupled optimization constructed. To solve constraints, idea Nash equilibrium solution tightening adopted. The simulation results illustrate that proposed ensures under environments realize driver.