QIAO Bangjun∗ (乔邦峻), LI Huanghe (李黄河), WU Xiaodong (吴晓东) . Intelligent-Assist Algorithm for Remote Shared-Control Driving Based on Game Theory[J]. Journal of Shanghai Jiaotong University(Science), 2021 , 26(5) : 615 -625 . DOI: 10.1007/s12204-021-2351-z

[1] GALVANI M. History and future of driver assistance [J]. IEEE Instrumentation & Measurement Magazine, 2019, 22(1): 11-16. [2] GEIGER A, LENZ P, URTASUN R. Are we ready for autonomous driving? The KITTI vision benchmark suite [C]//2012 IEEE Conference on Computer Vision and Pattern Recognition. Providence, RI: IEEE, 2012: 3354-3361. [3] MULDER M, ABBINK D A, BOER E R. Sharing con-trol with haptics: Seamless driver support from man-ual to automatic control [J]. Human Factors, 2012, 54(5): 786-798. [4] BAHRAM M, AEBERHARD M, WOLLHERR D. Please take over! An analysis and strategy for a driver take over request during autonomous driving [C]//2015 IEEE Intelligent Vehicles Symposium (IV ). Seoul: IEEE, 2015: 913-919. [5] CHUCHOLOWSKI F, B ¨UCHNER S, REICH-ENEDER J, et al. Prediction methods for teleoperated road vehicles [M]//Conference on future automo-tive technology-focus electromobility. Wiesbaden: Springer, 2013. [6] BE′CIRBAˇSIC′ D, MOLNAR M, LUKACˇ ˇZ, et al. Video-processing platform for semi-autonomous driv-ing over 5G networks [C]//2017 IEEE 7th Inter-national Conference on Consumer Electronics-Berlin (ICCE-Berlin). Berlin: IEEE, 2017: 42-46. [7] KEYES B, CASEY R, YANCO H A, et al. Cam-era placement and multi-camera fusion for remote robot operation [C]//IEEE International Workshop on Safety, Security, and Rescue Robotics. Gaithersburg, MD: IEEE, 2006. [8] GNATZIG S, CHUCHOLOWSKI F, TANG T, et al. A system design for teleoperated road vehicles [C]//Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics. Reykjav′?k: IEEE, 2013: 231-238. [9] MARS F, DEROO M, HOC J M. Analysis of human-machine cooperation when driving with di?erent de-grees of haptic shared control [J]. IEEE Transactions on Haptics, 2014, 7(3): 324-333. [10] ZHANG Q C, WU X C, LIU F. The overview of ac-tive front steering system and the principle of change-able transmission ratio [C]//2011 Third International Conference on Measuring Technology and Mechatron-ics Automation. Shanghai: IEEE, 2011: 894-897. [11] ERCANZ,CARVALHOA,LEF`EVRE S, et al. Torque-based steering assistance for collision avoid-ance during lane changes [C]//13th International Sym-posium on Advanced Vehicle Control (AVEC’16 ). Mu-nich: CRC, 2016: 43-48. [12] SAKAI K, MURAKAMI T. A fusion control of mas-ter steering input and automatic assisted control for teleoperated electric vehicle [C]//Proceedings of the IECON 2016 -42nd Annual Conference of the IEEE Industrial Electronics Society. Florence: IEEE, 2016:469- 474. [13] NGUYEN A T, SENTOUH C, POPIEUL J C. Driver-automation cooperative approach for shared steering control under multiple system constraints: Design and experiments [J]. IEEE Transactions on Industrial Elec-tronics, 2017, 64(5): 3819-3830. [14] SENTOUH C, NGUYEN A T, RATH J J, et al. Human-machine shared control for vehicle lane keeping systems: A Lyapunov-based approach [J]. IET Intelli-gent Transport Systems, 2019, 13(1): 63-71. [15] STEELE M, GILLESPIE R B. Shared control between human and machine: Using a haptic steering wheel to aid in land vehicle guidance [J]. Proceedings of the Hu-man Factors and Ergonomics Society Annual Meeting, 2001, 45(23): 1671-1675. [16] FORSYTH B A C, MACLEAN K E. Predictive haptic guidance: Intelligent user assistance for the control of dynamic tasks [J]. IEEE Transactions on Visualization and Computer Graphics, 2006, 12(1): 103-113. [17] GUO C S, SENTOUH C, POPIEUL J C, et al. Predic-tive shared steering control for driver override in auto-mated driving: A simulator study [J]. Transportation Research Part F : Tra?c Psychology and Behaviour, 2019, 61: 326-336. [18] BORRONI F, TANELLI M. A weighting approach to the shared-control of lateral vehicle dynamics [J]. IFAC-PapersOnLine, 2018, 51(9): 305-310. [19] BRAUN D A, ORTEGA P A, WOLPERT D M. Nash equilibria in multi-agent motor interactions [J]. PLoS Computational Biology, 2009, 5(8): e1000468. [20] JI X W, YANG K M, NA X X, et al. Shared steering torque control for lane change assistance: A stochas-tic game-theoretic approach [J]. IEEE Transactions on Industrial Electronics, 2019, 66(4): 3093-3105. [21] NA X X, COLE D J. Game-theoretic modeling of the steering interaction between a human driver and a ve-hicle collision avoidance controller [J]. IEEE Transac-tions on Human-Machine Systems, 2015, 45(1): 25-38. [22] LUDWIG J, GOTE C, FLAD M, et al. Cooperative dynamic vehicle control allocation using time-variant di?erential games [C]//2017 IEEE International Con-ference on Systems, Man, and Cybernetics (SMC ). Ban?, AB: IEEE, 2017: 117-122. [23] POPOVSKI P. Ultra-reliable communication in 5G wireless systems [C]//Proceedings of the 1st Interna-tional Conference on 5G for Ubiquitous Connectivity. Levi: ICST, 2014. [24] DONG Y C, HU Z C, UCHIMURA K, et al. Driver inattention monitoring system for intelligent vehicles: Areview [C]//2009 IEEE Intelligent Vehicles Sympo-sium. Xi’an: IEEE, 2009: 875-880. [25] VICENTE F, HUANG Z H, XIONG X H, et al. Driver gaze tracking and eyes o? the road detection system [J]. IEEE Transactions on Intelligent Transportation Systems, 2015, 16(4): 2014-2027.