{"id":"https://openalex.org/W4378194791","doi":"https://doi.org/10.1109/tits.2023.3277015","title":"A Bargaining Game-Based Human\u2013Machine Shared Driving Control Authority Allocation Strategy","display_name":"A Bargaining Game-Based Human\u2013Machine Shared Driving Control Authority Allocation Strategy","publication_year":2023,"publication_date":"2023-05-25","ids":{"openalex":"https://openalex.org/W4378194791","doi":"https://doi.org/10.1109/tits.2023.3277015"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3277015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3277015","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5040555121","display_name":"Changhua Dai","orcid":"https://orcid.org/0000-0003-3538-035X"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changhua Dai","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-3538-035X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110567563","display_name":"Changfu Zong","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changfu Zong","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045460150","display_name":"Dong Zhang","orcid":"https://orcid.org/0000-0003-1998-7362"},"institutions":[{"id":"https://openalex.org/I59433898","display_name":"Brunel University of London","ror":"https://ror.org/00dn4t376","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I59433898"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Dong Zhang","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Brunel University London, London, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Brunel University London, London, U.K","institution_ids":["https://openalex.org/I59433898"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056862593","display_name":"Min Hua","orcid":"https://orcid.org/0009-0004-2071-3806"},"institutions":[{"id":"https://openalex.org/I79619799","display_name":"University of Birmingham","ror":"https://ror.org/03angcq70","country_code":"GB","type":"education","lineage":["https://openalex.org/I79619799"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Min Hua","raw_affiliation_strings":["School of Engineering, University of Birmingham, Birmingham, U.K"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Engineering, University of Birmingham, Birmingham, U.K","institution_ids":["https://openalex.org/I79619799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076683366","display_name":"Hongyu Zheng","orcid":"https://orcid.org/0000-0002-4405-2094"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]},{"id":"https://openalex.org/I4392738231","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":"https://ror.org/00b67z867","country_code":null,"type":"facility","lineage":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongyu Zheng","raw_affiliation_strings":["State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0002-4405-2094","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716","https://openalex.org/I4392738231"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003038324","display_name":"Chuyo Kaku","orcid":"https://orcid.org/0000-0003-0126-9709"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kaku Chuyo","raw_affiliation_strings":["Jiangsu Chaoli Electric Company Ltd, Danyang, China"],"raw_orcid":"https://orcid.org/0000-0003-0126-9709","affiliations":[{"raw_affiliation_string":"Jiangsu Chaoli Electric Company Ltd, Danyang, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.0118,"has_fulltext":false,"cited_by_count":31,"citation_normalized_percentile":{"value":0.91332549,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"24","issue":"10","first_page":"10572","last_page":"10586"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10524","display_name":"Traffic control and management","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/carsim","display_name":"CarSim","score":0.5843881368637085},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5702240467071533},{"id":"https://openalex.org/keywords/game-theory","display_name":"Game theory","score":0.5409337878227234},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49118325114250183},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4622907340526581},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4321286976337433},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4162095785140991},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3456661105155945},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3285323977470398},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1250968873500824}],"concepts":[{"id":"https://openalex.org/C2776053266","wikidata":"https://www.wikidata.org/wiki/Q5037194","display_name":"CarSim","level":3,"score":0.5843881368637085},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5702240467071533},{"id":"https://openalex.org/C177142836","wikidata":"https://www.wikidata.org/wiki/Q44455","display_name":"Game theory","level":2,"score":0.5409337878227234},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49118325114250183},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4622907340526581},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4321286976337433},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4162095785140991},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3456661105155945},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3285323977470398},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1250968873500824},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C175444787","wikidata":"https://www.wikidata.org/wiki/Q39072","display_name":"Microeconomics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2023.3277015","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3277015","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7611663697","display_name":null,"funder_award_id":"20201111","funder_id":"https://openalex.org/F4320326884","funder_display_name":"State Key Laboratory of Automotive Simulation and Control"}],"funders":[{"id":"https://openalex.org/F4320326884","display_name":"State Key Laboratory of Automotive Simulation and Control","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1963864613","https://openalex.org/W1968199746","https://openalex.org/W1991990178","https://openalex.org/W2119854298","https://openalex.org/W2560651875","https://openalex.org/W2615040076","https://openalex.org/W2616258440","https://openalex.org/W2773226774","https://openalex.org/W2887143516","https://openalex.org/W2890092448","https://openalex.org/W2892052563","https://openalex.org/W2908972399","https://openalex.org/W2912361519","https://openalex.org/W2912553060","https://openalex.org/W2999983548","https://openalex.org/W3011136334","https://openalex.org/W3011554502","https://openalex.org/W3044345353","https://openalex.org/W3091907158","https://openalex.org/W3093647258","https://openalex.org/W3161183994","https://openalex.org/W3162920521","https://openalex.org/W3164366573","https://openalex.org/W3175568648","https://openalex.org/W3187370380","https://openalex.org/W3216927527","https://openalex.org/W4211097982","https://openalex.org/W4225553046","https://openalex.org/W4226253395","https://openalex.org/W4285111075","https://openalex.org/W4312264517"],"related_works":["https://openalex.org/W2909231926","https://openalex.org/W2784025224","https://openalex.org/W32453388","https://openalex.org/W2378271852","https://openalex.org/W3133799104","https://openalex.org/W1977118728","https://openalex.org/W2907267033","https://openalex.org/W1587674992","https://openalex.org/W1998994771","https://openalex.org/W2787691393"],"abstract_inverted_index":{"Research":[0],"on":[1],"game-based":[2,41,74,111,122],"human-machine":[3,127],"shared":[4,150],"driving":[5,196],"(HMSD)":[6],"has":[7,117],"traditionally":[8],"been":[9],"constrained":[10],"by":[11],"stringent":[12],"game":[13,137],"theory":[14],"assumptions,":[15],"high":[16],"requirements":[17,130],"for":[18,47,131],"automated":[19,132],"steering":[20,69,133,169],"controllers,":[21,134],"and":[22,66,92,135,166,182,192,205],"the":[23,27,63,67,83,101,108,141,154,163,167,173,180,185,189,194,200],"need":[24],"to":[25,61,99,198],"acquire":[26],"human":[28,64,164,186,195],"driver\u2019s":[29],"target":[30],"trajectory.":[31],"To":[32],"address":[33],"these":[34],"issues,":[35],"this":[36],"paper":[37],"proposes":[38],"a":[39,48,72,88,93],"bargaining":[40,73,85,110],"HMSD":[42,75,112,157,175,190],"control":[43,76,113],"authority":[44,77,114],"allocation":[45,78,115],"strategy":[46,79,116,143],"steer-by-wire":[49],"vehicle.":[50],"First,":[51],"two":[52],"types":[53],"of":[54,126,149,156,184],"lateral":[55],"path":[56],"tracking":[57],"controllers":[58],"are":[59,97],"developed":[60],"simulate":[62],"driver":[65,165,187],"automatic":[68,168],"system.":[70],"Then,":[71],"is":[80],"created":[81],"using":[82],"Nash":[84],"solution.":[86],"Finally,":[87],"Simulink/CARSIM":[89],"co-simulation":[90],"platform":[91],"driver-in-the-loop":[94],"experimental":[95],"bench":[96],"utilized":[98],"verify":[100],"proposed":[102,109,142,174],"strategy.":[103],"The":[104],"results":[105],"show":[106],"that":[107],"potential":[118],"advantages":[119],"over":[120],"existing":[121],"HMSD,":[123],"including":[124],"decoupling":[125],"interaction,":[128],"lower":[129],"feasible":[136],"modeling":[138],"ability.":[139],"Moreover,":[140],"demonstrates":[144],"excellent":[145],"performance":[146],"in":[147,158],"terms":[148],"driving,":[151],"which":[152,177],"extends":[153],"applicability":[155],"various":[159],"operating":[160],"maneuvers.":[161],"Both":[162],"system":[170,191],"benefit":[171],"from":[172],"system,":[176],"could":[178],"increase":[179],"acceptance":[181],"trustworthiness":[183],"with":[188],"reduce":[193],"load":[197],"make":[199],"driver-vehicle":[201],"interaction":[202],"more":[203],"reliable":[204],"smoother.":[206]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":6}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}