Robust human-machine shared control with differential drive assist steering for different driver

This paper proposes a full-order dynamic output feedback shared controller to provide differential drive assisted moment for in-wheel motors drive (IWMD) electric vehicles. Firstly, a preview driver model is applied to simulate the human driver's steering behavior. Besides, the neuromuscular dynamic characteristics are considered in the driver model for enhancing the tactile interaction between the human driver and machine. A driver-vehicle model coupling driver's steering behavior and vehicle dynamics are established. The driver-vehicle model is decomposed into sub-models by considering the perturbation of vehicle longitudinal speed and neuromuscular parameters. Thereafter, the dynamic parallel distributing compensating (DPDC) method is used to realize the human-machine shared controller. The torque control law is converted into the solution of linear matrix inequalities (LMIs). Finally, simulation results show that the proposed controller can provide individual assistance for different drivers. The performance of path tracking is improved and the driver's driving load is reduced with the proposed controller.