Man-machine co-driving robust control method based on driver NMS characteristics

The invention discloses a man-machine co-driving robust control method based on driver NMS characteristics, and the method comprises the steps: S1, an H-infinity controller for controlling the torque of an EPS motor is determined in an automatic driving state; S2, control parameters of the H-infinity controller are adjusted, so that the vehicle outputs a target steering wheel turning angle; S3, under the condition that the driver takes over the vehicle, a guaranteed performance controller for controlling driver input is determined; and S4, control parameters of the guaranteed performance controller are adjusted, so that the vehicle outputs the target steering wheel rotation angle. According to the man-machine co-driving robust control method based on the driver NMS characteristics, input interference of the driver can be reduced in an automatic driving state so as to improve the vehicle path tracking capability, and the driver path tracking capability is improved under the condition that the driver takes over