Necessary and sufficient conditions for the design of cooperative shared control

Flad, Michael; Otten, Jonas; Schwab, Stefan; Hohmann, Sören

doi:10.1109/smc.2014.6974086

Cited by 26 publications

(26 citation statements)

References 18 publications

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“…steering problem, which model is given in section II, is a two player differential game [13]. Note that this is not a restriction on the ADAS controller as a differential game player is a very generic model of a controller.…”

Section: Cooperative Shared Control Designmentioning

confidence: 99%

“…In the case that there exist more than one possible Nash equilibria the goal is that the ADAS should be designed in a way which result in an optimal Nash equilibrium (respectively equilibria) with respect to J G (·). The concept of "cooperative shared control design" on a more formal and general base is described in [13]. We focus here on the methods and techniques that are necessary to apply this idea to the shared steering problem.…”

Section: Cooperative Shared Control Designmentioning

confidence: 99%

“…If the drivers goal match the global goal then the optimal ADAS is mathematically a copy of the driver. Formally, if J D (·) = J G (·) and the requirement of a Nash equilibrium, stated of theorem 1, is fulfilled thenJ A (·) = J D (·) [13].…”

Section: A General Casementioning

confidence: 99%

“…But now (9b) and (9c) are the standard problem for calculating a Nash equilibrium for a given differential game. For specific problems useful solutions to calculate the Nash equilibrium are available [13].…”

Section: Approximative Cooperative Shared Control Designmentioning

confidence: 99%

“…In [13] the authors propose a formal design concept for shared control along with the necessary and sufficient conditions for controller design. The shared control problem is thereby modeled as a differential game and the idea behind the concept is that adding a non-human controller to the shared control loop has to result in a Nash equilibrium.…”

Section: Introductionmentioning

confidence: 99%

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Steering driver assistance system: A systematic cooperative shared control design approach

Flad

Otten

Schwab

et al. 2014

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Several publications have shown that it is beneficial to design a driver assistance system using a shared control structure. For the steering task this structure can be realized with a setup in which driver and automation can apply a torque on the steering wheel in parallel. Thereby both, driver and assistance system, interact with the vehicle and each other over the haptical channel. In the system the driver is given and cannot be changed. The question is how to design the assistance system controller as an ideal complement to the driver. In this paper a formal design concept is applied to this problem which utilizes the fact that adding a controller to the overall system has to lead to a Nash equilibrium. Remaining degrees of freedom are used to optimize the designed controller with respect to a global objective function that specifies overall system performance. We refer the concept as "cooperative shared control design". For the concept driver and vehicle are modeled as a differential game. We show systematically that this concept can be used to determine the optimal assistance system if the driver characteristics are known. Simulations prove the applicability of this concept.

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Section: Cooperative Shared Control Designmentioning

confidence: 99%

Section: Cooperative Shared Control Designmentioning

confidence: 99%

Section: A General Casementioning

confidence: 99%

Section: Approximative Cooperative Shared Control Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Steering driver assistance system: A systematic cooperative shared control design approach

Flad

Otten

Schwab

et al. 2014

2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

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Differential-Game-Based Driver Assistance System for Fuel-Optimal Driving

Flad

2019

Static &Amp; Dynamic Game Theory: Foundations &Amp; Applications

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Identification methods for ordinal potential differential games

Varga,

Huang,

Hohmann

2024

Comp. Appl. Math.

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This paper introduces two new identification methods for linear quadratic (LQ) ordinal potential differential games (OPDGs). Potential games are notable for their benefits, such as the computability and guaranteed existence of Nash Equilibria. While previous research has analyzed ordinal potential static games, their applicability to various engineering applications remains limited. Despite the earlier introduction of OPDGs, a systematic method for identifying a potential game for a given LQ differential game has not yet been developed. To address this gap, we propose two identification methods to provide the quadratic potential cost function for a given LQ differential game. Both methods are based on linear matrix inequalities (LMIs). The first method aims to minimize the condition number of the potential cost function’s parameters, offering a faster and more precise technique compared to earlier solutions. In addition, we present an evaluation of the feasibility of the structural requirements of the system. The second method, with a less rigid formulation, can identify LQ OPDGs in cases where the first method fails. These novel identification methods are verified through simulations, demonstrating their advantages and potential in designing and analyzing cooperative control systems.

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Necessary and sufficient conditions for the design of cooperative shared control

Cited by 26 publications

References 18 publications

Steering driver assistance system: A systematic cooperative shared control design approach

Steering driver assistance system: A systematic cooperative shared control design approach

Differential-Game-Based Driver Assistance System for Fuel-Optimal Driving

Identification methods for ordinal potential differential games

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