Human-machine Cooperative Control Framework for Intelligent Vehicle Considering Intervention Punishment

The uncertainties of human-machine interaction would cause conflicts between the driver and the intelligent assisted driving system, and thus deteriorating the vehicle driving performance. To enhance the drivability and lateral stability of the vehicle,an intelligent human-machine cooperative control framework, which considers the dynamic intervention penalty, is proposed. First, to well address the uncertainties in the human-machine shared driving system, the time-varying driver preview behavior and the tire nonlinear characteristics are considered in the vehicle system modelling; Second, to attenuate the conflicts between drivers and assistance steering actions due to the personalized driving behaviors, the human-machine intervention penalty factor is introduced into the driving authority allocation, and the fuzzy rule is established based on the dynamic driver torque and lateral deviation of actual preview point. Third, a linear parameter varying（LPV） controller based on the system poles placement is devel