Optimal vehicle stability controller based on Nash strategy for differential LQ games

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.

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