Hierarchical Human-vehicle Collaboration Control Strategy for Intelligent Vehicle under Human-cyber-physical System Architecture

To achieve human–vehicle hybrid-augmented intelligence, this study proposes a hierarchical human-vehicle collaboration control strategy (HVCCS) based on human-cyber-physical systems (HCPS) architecture. In the upper layer, virtual human module is established based on fuzzy feedback control that can respond to physical scenes. Further, the combination of outputs from the established module and the preceding vehicle's speed can generate the referenced velocity in cyber space for the lower layer. In the lower layer, an H-infinity full-state feedback control considering the uncertainty of vehicle dynamic parameters is designed, which can facilitate the autopilot system (AS) to achieve fast and stable tracking of the reference velocity. Numerical simulation results demonstrate that the proposed scheme can improve the stability and safety of the car-following behavior, and ease the operating load of driver.