Driver-Automated Cooperation Driving Authority Optimization Framework for Shared Steering Control

In this paper, we introduce the preview-follower theory for modeling the trajectory-tracking controller of an automated system using model predictive control (MPC). The primary contribution of this research lies in enhancing tracking accuracy and driving safety when the driver and automated system share similar driving intentions, while also enabling a rapid transfer of driving authority to the human driver in cases of differing intentions. To verify the effectiveness of the proposed driving authority optimization framework, both simulation and driver-in-the-loop experiments were conducted under conditions of consistent and inconsistent driving intentions between the human driver and the autonomous driving system. The results of both experiments demonstrated that the proposed shared steering cooperative control and driving authority optimization framework not only significantly improves vehicle tracking accuracy but also promptly aligns with the driver's intentions.