A model predictive control (MPC)-based shared steering framework for intelligent vehicles is proposed in this paper. The road boundary and vehicle stability boundary are regarded as the safe envelope, and the tradeoff between the freedom of driver operation and safety assurance of intelligent vehicles is made within this safe envelope. Under this cooperative steering framework, the reliability of drivers is analyzed in dangerous situations and in the predictive time domain, and two improved schemes are proposed. Under the two improved schemes, the weight of the control objective can be adaptively changed according to the results of the threat assessment and predetermined strategy. At the same time, an evaluation index named control intervention rate and risk rate is proposed to evaluate the designed human-vehicle cooperation scheme. The simulation results show that the performance of the two improved schemes in ensuring the safety of intelligent vehicles has been improved.

提出了一种基于模型预测控制（MPC）的智能汽车共享转向框架。道路边界和车辆稳定性边界被视为安全范围，并且在该安全范围内进行驾驶员操作自由度与智能车辆安全保证之间的权衡。在这种协同转向框架下，分析了危险情况和预测时域中驾驶员的可靠性，并提出了两种改进方案。在这两种改进方案下，可以根据威胁评估和预定策略的结果来自适应地改变控制目标的权重。同时，提出了控制干预率和风险率的评价指标，以评价设计的人车合作方案。