364 工程科学学报,第43卷,第3期 cooperation oriented approach for shared control of lane keeping driver model 2014 American Control Conference.Portland, assist systems.IEEE Trans Control Syst Technol,2019,27(5): 2014:3911 1962 [60]Meng Y,Gan X,Bai G X.Path following control of underground [53]Jiang J J,Astolfi A.Shared-control for the lateral motion of mining articulated vehicle based on the preview control method. vehicles 2018 European Control Conference.Limassol,Cyprus, Chin J Eng,2019,41(5):662 2018:225 (孟宇,甘鑫,白国星.基于预瞄距离的地下矿用铰接车路径跟 [54]Gao Z G,Chen WW,Tan D K,et al.Human-machine cooperative 踪预测控制.工程科学学报,2019,41(5):662) lane departure assist control considering driver manipulate failure [61]Beal C E,Gerdes J C.Model predictive control for vehicle J Mech Eng,2019,55(16):91 stabilization at the limits of handling.IEEE Trans Control Syst (高振刚,陈无畏,谈东奎,等.考虑驾驶员操纵失误的车道偏离 Technol,.2013,21(4):1258 辅助人机协同控制.机械工程学报,2019,55(16):91) [62]Erlien S M,Fujita S,Gerdes J C.Shared steering control using safe [55]Ma B,Liu YL.Na XX,et al.A shared steering controller design envelopes for obstacle avoidance and vehicle stability.IEEE Trans based on steer-by-wire system considering human-machine goal Intell Transp Syst,2016,17(2):441 consistency.J Franklin Inst,2019,356(8):4397 [63]Wang L M,Liu X L,Li C X,et al.Overview of internet of [56]Li R J,Li S B,Gao H B,et al.Effects of human adaptation and vehicles for 5G.Chin J Nenwork Inf Secur,2016,2(6):00064-1 trust on shared control for driver-automation cooperative driving// (王良民,刘晓龙,李春晓,等.5G车联网展望.网络与信息安全 SAE Technical Paper 2017-01-1987,2017,https://doi.org/10.4271/ 学报,2016,2(6):00064-1) 2017-01-1987 [57]Balachandran A,Brown M,Erlien S M,et al.Creating predictive [64]Marino R,Scalzi S,Netto M.Nested PID steering control for lane haptic feedback for obstacle avoidance using a model predictive keeping in autonomous vehicles.Control Eng Pract,2011, control (MPC)framework /2015 IEEE Intelligent Vehicles 19(12):1459 Symposium.Seoul,2015:31 [65]Benloucif M A,Sentouh C,Floris J,et al.Online adaptation of the [58]Gray A,Ali M,Gao YQ,et al.A unified approach to threat level of haptic authority in a lane keeping system considering the assessment and control for automotive active safety.IEEE Trans driver's state.Transp Res Part F,2019,61:107 ntell Transp Syst,2013,14(3):1490 [66]Sentouh C,Soualmi B,Popieul J C,et al.Cooperative steering [59]Zafeiropoulos S,Tsiotras P.Design of a lane-tracking driver assist control system /2013 IEEE International Conference on steering assist system and its interaction with a two-point visual Systems,Man,and Cybernetics.Manchester,2013:941cooperation oriented approach for shared control of lane keeping assist systems. IEEE Trans Control Syst Technol, 2019, 27(5): 1962 Jiang J J, Astolfi A. Shared-control for the lateral motion of vehicles // 2018 European Control Conference. Limassol, Cyprus, 2018: 225 [53] Gao Z G, Chen W W, Tan D K, et al. Human-machine cooperative lane departure assist control considering driver manipulate failure. J Mech Eng, 2019, 55(16): 91 (高振刚, 陈无畏, 谈东奎, 等. 考虑驾驶员操纵失误的车道偏离 辅助人机协同控制. 机械工程学报, 2019, 55(16):91) [54] Ma B, Liu Y L, Na X X, et al. A shared steering controller design based on steer-by-wire system considering human-machine goal consistency. J Franklin Inst, 2019, 356(8): 4397 [55] Li R J, Li S B, Gao H B, et al. Effects of human adaptation and trust on shared control for driver-automation cooperative driving// SAE Technical Paper 2017-01-1987, 2017, https://doi.org/10.4271/ 2017-01-1987 [56] Balachandran A, Brown M, Erlien S M, et al. Creating predictive haptic feedback for obstacle avoidance using a model predictive control (MPC) framework // 2015 IEEE Intelligent Vehicles Symposium. Seoul, 2015: 31 [57] Gray A, Ali M, Gao Y Q, et al. A unified approach to threat assessment and control for automotive active safety. IEEE Trans Intell Transp Syst, 2013, 14(3): 1490 [58] Zafeiropoulos S, Tsiotras P. Design of a lane-tracking driver steering assist system and its interaction with a two-point visual [59] driver model // 2014 American Control Conference. Portland, 2014: 3911 Meng Y, Gan X, Bai G X. Path following control of underground mining articulated vehicle based on the preview control method. Chin J Eng, 2019, 41(5): 662 (孟宇, 甘鑫, 白国星. 基于预瞄距离的地下矿用铰接车路径跟 踪预测控制. 工程科学学报, 2019, 41(5):662) [60] Beal C E, Gerdes J C. Model predictive control for vehicle stabilization at the limits of handling. IEEE Trans Control Syst Technol, 2013, 21(4): 1258 [61] Erlien S M, Fujita S, Gerdes J C. 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