基于人机博弈的驾驶权接管控制策略

doi:10.19562/j.chinasae.qcgc.2025.08.007

Abstract

Abstract:

Level 3 conditional autonomous driving systems can independently execute driving tasks in certain specific situation， allowing human drivers to get involved in tasks unrelated to driving. However， when the system sends out a takeover request， achieving a smooth transition from automatic to manual vehicle control during the driver's state recovery process is a key concern in current autonomous driving application. In this paper， for the takeover process of human driver in L3 autonomous driving， a human-machine non-zero-sum differential game framework is constructed for the authority transition based on the takeover behavior of human driver upon the system's takeover request and an event-triggered adaptive dynamic programming control algorithm is developed based on critic-only structure. By solving the driving strategies under the coupled control objectives of both players and designing exponential-trigonometric optimization algorithm-based flexible authority transfer strategy， a safe and stable switch between automatic and manual driving is achieved. The results show that the proposed takeover strategy has better obstacle avoidance performance and more stable vehicle motion than rigid takeover method.

Key words: autonomous driving, takeover control, non-zero differential game, exponential-trigonometric optimization algorithm

Yingkui Shi,Chuan Hu,Jianzhong Zou,Xi Zhang. Takeover Control Strategy Based on Human-Machine Game[J].Automotive Engineering, 2025, 47(8): 1501-1512.

Figures/Tables 19

参数	数值	参数	数值
$m$ /kg	1 412	$C f$ /（N·m^-1）	-112 600
$l f$ /m	1.015	$C r$ /（N·m^-1）	-94 548
$l r$ /m	1.895	$I z$ /（kg·m²）	1 536.7

References 28

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Takeover Control Strategy Based on Human-Machine Game

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