Title: Optimal vehicle stability controller based on Nash strategy for differential LQ games
Authors: Seyed Hossein Tamaddoni, Saied Taheri, Mehdi Ahmadian
Addresses: Center for Vehicle Systems and Safety, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA. ' Center for Vehicle Systems and Safety, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA. ' Center for Vehicle Systems and Safety, Virginia Polytechnic Institute and State University, Blacksburg, VA 24061, USA
Abstract: This paper introduces a novel optimal vehicle stability controller in the presence of driver model. The concept is inspired by Nash strategy for exactly known systems with more than two players. In the presented method, the driver, commanding the steering angle, and the vehicle stability controller, applying compensated yaw moment, are defined as two players in a differential linear quadratic game. As a result, a novel optimal control algorithm is developed. Evaluated by a nonlinear vehicle model, numerical simulations are done for a single lane change manoeuvre, and preliminary results show the effectiveness of this controller over linear quadratic regulators.
Keywords: vehicle stability; optimal control; game theory; driver-in-the-loop; stability control; driver modelling; Nash strategy; steering angle; yaw moment; differential linear quadratic games; nonlinear vehicle modelling; numerical simulation; lane change manoeuvres.
DOI: 10.1504/IJVAS.2010.035795
International Journal of Vehicle Autonomous Systems, 2010 Vol.8 No.2/3/4, pp.171 - 189
Received: 07 Apr 2009
Accepted: 28 Dec 2009
Published online: 04 Oct 2010 *