Conflict control method for shared driving, and storage medium and electronic device

A non-transitory computer-readable storage medium having a computer program stored thereon, which when executed by a processor, causes a conflict control method for shared driving to be implemented, wherein the conflict control method for shared driving comprises:

• establishing, based on a driver's deterministic steering torque and a driver's stochastic steering torque, a game model for human-machine path tracking control corresponding to a human-machine interaction action;
• obtaining human-machine torque conflict information by solving the game model for human-machine path tracking control;
• determining a shared control strategy based on the human-machine torque conflict information;
• and
• controlling a shared driving vehicle based on the shared control strategy;
• wherein the game model for human-machine path tracking control comprises an open-loop game model, and establishing the game model for human-machine path tracking control corresponding to the human-machine interaction action, comprises:
• establishing, based on the driver's deterministic steering torque and the driver's stochastic steering torque, a first discrete state update equation for a dynamics system of the shared driving vehicle in an open-loop information mode, wherein the first discrete state update equation comprises a first stochastic steering torque related term;
• determining a prediction output vector in a prediction time domain based on the first discrete state update equation, and determining a driver reference trajectory vector and a driving system reference trajectory vector, wherein the prediction output vector comprises a prediction output term that is based on the first stochastic steering torque related term;
• and
• establishing, based on the prediction output vector, the driver reference trajectory vector, and the driving system reference trajectory vector, a first driver trajectory cost function and a first driving system trajectory cost function, to obtain the game model for human-machine path tracking control.

An electronic device, comprising:

• one or more processors;
• and
• a storage unit for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to be configured to:
• establish, based on a driver's deterministic steering torque and a driver's stochastic steering torque, a game model for human-machine path tracking control corresponding to a human-machine interaction action;
• obtain human-machine torque conflict information by solving the game model for human-machine path tracking control;
• determine a shared control strategy based on the human-machine torque conflict information;
• and
• control a shared driving vehicle based on the shared control strategy;
• wherein the one or more processors are further configured to:
• establish, based on the driver's deterministic steering torque and the driver's stochastic steering torque, a first discrete state update equation for a dynamics system of the shared driving vehicle in an open-loop information mode, wherein the first discrete state update equation comprises a first stochastic steering torque related term;
• determine a prediction output vector in a prediction time domain based on the first discrete state update equation, and determine a driver reference trajectory vector and a driving system reference trajectory vector, wherein the prediction output vector comprises a prediction output term that is based on the first stochastic steering torque related term;
• and
• establish, based on the prediction output vector, the driver reference trajectory vector, and the driving system reference trajectory vector, a first driver trajectory cost function and a first driving system trajectory cost function, to obtain the game model for human-machine path tracking control.