During the emergency braking process on the split-$\mathit{\mu }$ road, the lateral stability of the vehicle is poor, and the intervention of ABS will cause corresponding lateral disturbance. It is difficult for the driver to control the vehicle accurately. Especially at the end of the braking process, due to the withdrawal of ABS, the increase in braking pressure causes the longitudinal force of the tires on both sides to be inconsistent, which reduces the stability of the vehicle at this time. This paper proposed a shared control strategy to solve the related problems. First, a segmented active steering strategy is used in the driver’s intention optimization algorithm to optimize the driver’s actions in time at the initial stage of the braking process and to optimize the lateral stability of the vehicle by tracking the estimated tire slip angle at the end of the braking process. Then, according to the path envelope based on the driver’s path error neglecting feature and the dynamic state of the vehicle, a flexible control transfer mechanism is established. The trajectory following algorithm based on linear quadratic regulator is used to correct the driver’s intention optimization algorithm according to the flexible control transfer mechanism.

在紧急制动过程中，$\mathit{\mu }$道路上，车辆的侧向稳定性差，而ABS的干预将引起相应的侧向扰动。驾驶员难以精确地控制车辆。特别是在制动过程结束时，由于取消了ABS，制动压力的增加导致两侧轮胎的纵向力不一致，这在此时降低了车辆的稳定性。本文提出了一种共享控制策略来解决相关问题。首先，在驾驶员意图优化算法中采用了分段主动转向策略，以在制动过程的初始阶段及时优化驾驶员的动作，并通过跟踪估计的轮胎滑移角来优化车辆的横向稳定性。制动过程。然后，根据驾驶员的路径误差忽略特征和车辆的动态状态，根据路径包络，建立了灵活的控制传递机构。采用基于线性二次调节器的轨迹跟踪算法，根据柔性控制传递机制对驾驶员的意图优化算法进行校正。