A Cooperative Game-based Lateral Control Authority Allocation for Human-machine Co-driving in Large Conflict Scenarios

Shared Control Between Human Driver and Automation in Cooperative Driving Based on Game Theoretic Model Predictive Control

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles ◽

10.1115/dscc2019-9053 ◽

2019 ◽

Author(s):

Sangjin Ko ◽

Reza Langari

Keyword(s):

Model Predictive Control ◽

Cooperative Game ◽

Predictive Control ◽

Control Strategy ◽

Shared Control ◽

Safety Critical ◽

Cooperative Driving ◽

Critical Situation ◽

Human Driver ◽

Control Authority

Abstract Shared control is a control framework in which control action is shared between a human driver and an automation. In this work, the shared control is studied based on game theoretical approach of distributed model predictive control (DMPC). The solution of cooperative game is derived under DMPC framework, and then realistic driving situation is studied in cooperative game framework. Shared control strategy for fully mixed driving authority is proposed considering collision probability based on TTC (time to collision) and tracking error. Simulations were conducted using Matlab/Simulik in cooperative driving. The simulation scenarios consist of safety critical situation and non-safety critical situation. In safety critical situation, an automation takes more control authority to avoid a collision, and in non-safety critical situation a human driver takes more control authority. The simulation results show that the control authority is shared continuously by the proposed shared control strategy.

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A non-iterative design for aileron to rudder interconnect gain

The Aeronautical Journal ◽

10.1017/aer.2020.131 ◽

2020 ◽

pp. 1-12

Author(s):

J. Myala ◽

V.V. Patel ◽

G.K. Singh

Keyword(s):

Flight Control ◽

Design Procedure ◽

Surface Damage ◽

Mode Frequency ◽

Control Law ◽

Lateral Control ◽

Damage Scenario ◽

Fighter Aircraft ◽

Iterative Design ◽

Control Authority

Abstract Aileron to Rudder Interconnect (ARI) gain is implemented on most fighter aircraft, primarily to reduce the side slip produced due to adverse yaw from pilot lateral control stick input and to improve the turn rate response. A systematic and non-iterative design procedure for ARI gain is proposed herein based on the evaluation of a transfer function magnitude at the aircraft roll mode frequency. The simplicity of the proposed method makes it useful for real-time flight control law reconfiguration in situations where the aileron control authority is diminished due to damage. This is demonstrated by a simulation example considering an aileron surface damage scenario.

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