A Robust Cooperative Game Theory-Based Human–Machine Shared Steering Control Framework

Active steering control is the key technology for improving vehicle safety and driver comfort, and its performance is largely affected by the uncertainties of human–machine interaction. To this end, this article proposes a robust cooperative game-based active steering control strategy considering the human–machine interaction characteristic to ensure the steering stability of the vehicle. The driver–vehicle system is modeled based on the T–S fuzzy structure to describe the uncertainty of the vehicle’s longitudinal velocity. Then, the human–machine shared steering control is represented by a dynamic game process, in which the driver and the active steering control system are regarded as the participants. The cooperative (CO) game theory is introduced to decide the interaction control level. Such a design can achieve a better overall performance of agents through modeling the human–machine interaction process. Finally, a robust
$H\infty $
compensation control method is proposed to improve the anti-interference performance of the system, thus ensuring vehicle stability. The MATLAB/Carsim joint simulation platform is established to verify the effectiveness of the proposed controller. The results show that the proposed human–machine cooperative control framework can guarantee the dynamic interactive performance while improving the vehicle handling performance. Furthermore, the hardware-in-the-loop (HIL) tests based on the LabVIEW-RT system also prove the feasibility.