摘要：Human–machine cooperative driving is an important stage in the development of autonomous driving technology. However, in emergencies, the problem of vehicle stability control for human–computer cooperative autonomous vehicles is still worthy of attention. This paper mainly realizes the stability control of the human–machine cooperative driving vehicle through active steering and considers the influence of the change of vehicle speed on the vehicle stability control performance. Therefore, a vehicle stability control method based on the superposition of steering torque is proposed, in which the Takagi-Sugeno fuzzy model is used to solve the variable parameter problem. Firstly, a vehicle system model with steering moment as input is established to ensure that the driver can participate in the steering control. Secondly, the nonlinear T-S fuzzy model is established by fuzzifying the local linear model. Then, the parallel-distributed-compensation (PDC) method is used to design the vehicle stability controller, and the asymptotic stability of the system in the range of variable parameters is proved by using the Lyapunov stability principle. Finally, the simulation and experimental results show that the control method can improve the handling stability of the human–machine cooperative driving vehicle under the condition of vehicle speed variation.
