LAUSR

To improve the reliability of the shared steering control system, and weaken the influence of uncertain driver behavior on driving safety, an extended shared steering control system with an authority adaptive allocation model is proposed. The system framework consists of upper-level and lower-level. The upper-level is an adaptive authority allocation model, which is composed of a reference model and an authority dynamic allocation model. The reference authority level can be calculated by the reference model, which is used as the reference of the authority dynamic allocation model. The authority levels of the autonomous controller and driver are gained by the adaptive authority allocation model. The lower level is the human-machine shared steering control, which includes the driver and autonomous controller. Using the authority level obtained by the upper-level, the lower-level can realize the coordinated control of human and machine. The effectiveness of the proposed approach is verified by simulation. The results show that relative to the numerical function model, the proposed approach can effectively weaken the impact of driver misoperation and poor preview time, the trajectory tracking ability and handling stability are improved significantly, and the human-machine conflict and the workload of the controller are weakened.