A shared control method of intelligent vehicle based on priority weights

In this paper, aiming at the problem of controlling conversion between driver and autopilot system, a shared control method based on priority weights is presented for controlling the lateral motion of intelligent vehicle. First, using the two-freedom vehicle dynamic model, this paper designs an autonomous driving controller using the LQR path tracking method. And then, a fuzzy controller based on driver’s intention is designed. Next, an intelligent vehicle lateral controller based on priority weights is constructed according to the shared control method. Finally, through the co-simulation by MATLAB and CarSim, the simulation results show that the controller can track the planned path well, and the lateral controller based on shared control can keep the distance deviation within a small range.