Authority Allocation Approach for the Human-Machine Co-Driving System in Crosswinds

To improve driving safety and the stability of human-machine co-driving vehicles in crosswinds, a human-machine co-driving system to address the impact of crosswinds is developed. To reveal the relationship between crosswinds and tire cornering stiffness, the effect of tire load on cornering stiffness is analyzed based on the Magic Formula tire model. On this basis, the correction function of tire cornering stiffness is obtained. A human-machine co-driving system framework is introduced, which includes the driver model, controller, and authority allocation strategy. The controller is used to guarantee the stability of the system, which can remain robust to the uncertainty of tire cornering stiffness and vehicle velocity. The authority allocation strategy can adjust the authority level of the driver and controller according to the crosswind speed, working states of the vehicle, and driving feeling of drivers. The effectiveness of the proposed system is verified by simulation. The results show that the proposed system can improve the vehicle's lane-keeping and obstacle-avoidance abilities in crosswinds. Further, the system can be compatible with drivers with different driving characteristics and achieve greater versatility. In addition, the impact of crosswinds on the trajectory tracking performance and driving stability of the vehicle, at different speeds and different tire cornering stiffnesses, can be weakened and the reliability of the system improved significantly.