Cooperative Driving Strategy Based on Non-cooperative Model Predictive Control

Abstract:

An intelligent vehicle cooperative driving strategy based on non-cooperative model predictive control (MPC) was proposed. Firstly, the cooperative driving model was presented, in which the shared control of the vehicle was realized. Next, the cost functions of the driver and the control system were obtained. Then, the Nash equilibrium solution of the non-cooperative MPC was achieved. At last, simulations were used to verify the advantages and effectiveness of the strategy. It is shown that the Nash equilibrium solution of the non-cooperative MPC can be achieved by a non-iterative method. And gradual handover of the driving privilege is realized by using the updated confidence matrixes of the driver and the control system. Simulations based on Matlab show that the noncooperative MPC cooperative driving strategy can deliver the driving privilege from the driver to the control system gradually when the intelligent vehicle encounters danger. And this strategy can guarantee that the driver is in the control loop all the time.