Cooperative Game Based Obstacle Avoidance Control by Integrating the Steering and Braking Systems

This paper proposes a novel cooperative control strategy based on the game theory for the emergency obstacle avoidance (EOA) by integrating the steering and braking based chassis subsystems. The aim is to deal with the interaction conflicts between the two action subsystems which have asymmetric control power, when tracking the target trajectory for the obstacle avoidance. The cooperative game theory is adopted to model the interaction between the steering and braking based subsystems, which are treated as two players in the game. A cost normalization method is proposed to handle the big difference of the cost function defined in the framework of cooperative game between the two players. Then, an improved Nash bargaining solution concept is used to determine the optimal control authority of the two subsystems. Co-simulation is performed under a double lane change maneuver to verify the effectiveness of the proposed control strategy. The results show that a more reasonable control authority is assigned by the proposed method, the vehicle can well track the desired trajectory for EOA with the cooperative game-based control strategy.