Lateral and Longitudinal Shared Control Strategy of Human-Machine Based on Game-Theoretic

Human-machine shared driving has become a research focus in the field of autonomous driving. In this paper, we propose a lateral and longitudinal shared control strategy of human-machine games. Firstly, a model of the driver and machine in shared driving mode is established. Then, game theory is employed to describe the coupled interaction between human and machine, and an optimal human-machine control strategy based on game theory is designed. Finally, the results of joint simulations and driver-in-the-loop experiments demonstrate that the proposed shared control strategy improves performance in terms of trajectory tracking, driver burden and vehicle stability.