Shared Driving Control between Human and Autonomous Driving System via Conflict resolution using Non-Cooperative Game Theory

Shared driving control between human driver and autonomous driving system (AutoSys) is very significant with respect to its contribution to the field of ADAS. In this paper, we present a shared driving methodology through the fusion of the individual driving inputs of human driver and AutoSys, which computes the final driving input for the vehicle. This is achieved through the conflict resolution between the two drivers using non-cooperative game theory. The methodology of the fusion process is based on some features like driving decision admissibility (related to collision risk assessment), future predictions of driving profiles, individual driving intentions comparison (based on a similarity measure method) that are described in the article. A two player non-cooperative game is defined incorporating the driving admissibility and intentions. Conflict resolution is achieved through an optimal bargaining solution given by Nash Equilibrium. The validation is carried out on a driving simulator integrated with the softwares like IPG CarMaker and Simulink. The results for various driving scenarios are presented.