Modelling Non Cooperative Human-Automation Interactions in a Haptic Shared Control Framework

This paper addresses the interaction between the human driver and automation system in a Haptic Shared Control framework using a non-cooperative model predictive game approach. We model the human and automation’s interaction in a scenario when both driver and automation system detects an obstacle but select different paths for avoiding it. For such a situation, the effects of varying information patterns, namely the Nash and Stackelberg strategies on the shared steering angle are investigated. The simulation demonstrates the influences of the path-following weights on negotiating control authority between the human driver and the automation system.