Human–Machine Cooperative Driving and Real-Time Algorithm Implementation Based on Double-Loop Control System

The double-loop structure has been implemented to verify the feasibility of human–machine cooperative control in real environment in this article, which can fully reflect the performance of the controller and realization of the sharing steering control between human driver and automatic control system. The outer loop adopts a fuzzy proportional–integral–derivative (PID) controller to deal with different working conditions, on which the complexity of the algorithm is reduced and the real-time performance of the controller is improved. The inner loop adopts the active disturbance rejection controller (ADRC), which can effectively suppress the interference such as drivers’ faulty operations and improve the tracking accuracy and system performance. The stability for extended state observe (ESO) and ADRC is described in theory to ensure the feasibility of the controller in the real-world environment. The experiment results show that the human–machine cooperative control system based on the double-loop controller can effectively reduce the lateral error of the vehicle and the steering torque of the driver in the process. Also, the control performance of the vehicle is improved.