Game-Based Driver–Automation Cooperative Control Considering Driver Neuromuscular Delay
提出一种基于博弈的协同转向控制方法，考虑驾驶员神经肌肉延迟，通过固定初始权重与动态调整结合的策略平衡人机目标冲突，并设计主客观评价指标，实验表明驾驶员意图不明确时应保持其较高驾驶权重。
A game-based cooperative steering control (GCSC) approach is introduced to facilitate effective collaboration between human drivers and automation, incorporating the neuromuscular delay inherent in human responses. In this framework, a dynamic coordination between driver and automation goals is achieved through the establishment of a game equilibrium in instances of driver and automation conflict. In response to the challenges posed by frequent modifications in driving weights and their subsequent burden on human drivers, this article proposes a strategy that integrates fixed initial weights with dynamic adjustments to driver–automation driving weights. Moreover, a comprehensive evaluation method including subjective and objective evaluation indexes is proposed. Different drivers are invited to perform virtual driving experiments, and the experimental results are analyzed by the proposed evaluation method. It is concluded that the driver’s driving weight should be kept at a high level during cooperative steering control when the driver’s intention cannot be perfectly obtained, and the determination of the driving weight should also consider the driver’s driving skills.