A Feasible Driver-Vehicle Shared Steering Control Actuation Architecture Based on Differential Steering 2022-01-7080

To address the current situation of the limited driver-vehicle cooperative steering actuation structure, this paper proposes a feasible driver-vehicle shared steering control actuation architecture based on the differential steering. Firstly, a shared steering execution architecture is established, which contains traditional steering system controlled by human driver and differential steering system acting as the automatic execution system. In this paper, a specific driver-vehicle shared control architecture is established with the front-wheel hub motor-based differential steering system and a single-view angle based human driver model. Then, an upper-level sliding mode controller for path tracking is developed and implemented as the automatic steering system, and the driver-vehicle shared control is achieved by the proposed non-cooperative game model. Finally, the proposed steering actuation architecture for driver-vehicle lateral shared driving based on differential steering is validated via the Simulink/Carsim simulation platform. The results show that based on the steering actuation architecture, the shared control performance guided by the non-cooperative game theory can effectively satisfy the steering needs for both the human driver and the automatic steering system, while considering the safety of shared driving and the ‘human-centered’ design intention.