Human–Machine Cooperative Control of Intelligent Vehicles for Lane Keeping—Considering Safety of the Intended Func-tionality

Reasonably foreseeable misuse by persons, as a primary aspect of safety of the intended functionality (SOTIF), has a significant effect on cooperation performance for lane keeping. This paper presents a novel human–machine cooperative control scheme with consideration of SOTIF issues caused by driver error. It is challenging to balance lane keeping performance and driving freedom when driver error occurs. A safety evaluation strategy is proposed for safety supervision, containing assessments of driver error and lane departure risk caused by driver error. A dynamic evaluation model of driver error is designed based on a typical driver model in the loop to deal with the uncertainty and variability of driver behavior. Additionally, an extension model is established for determining the cooperation domain. Then, an authority allocation strategy is proposed to generate a dynamic shared authority and achieve an adequate balance between lane keeping performance and driving freedom. Finally, a model predictive control (MPC)-based controller is designed for calculating optimal steering angle, and a steer-by-wheel (SBW) system is employed as an actuator. Numerical simulation tests are conducted on driver error scenarios based on the CarSim and MATLAB/Simulink software platforms. The simulation results demonstrate the effectiveness of the proposed method.