A Hierarchical Shared Steering Control Strategy Based on Driver States

Quanjin Wang, Lina Xuan, Jiwei Feng, Jian Wu

Continuous shared control provides an effective approach for intelligent vehicles to balance driving autonomy and system safety boundaries in complex human–machine interaction scenarios. However, existing shared control methods fail to dynamically adapt to the complex and time-varying states of the driver. To address this limitation, a hierarchical shared steering control strategy based on driver states is proposed in this paper. First, an in-vehicle eye tracker is utilized to collect data, and recognition features are extracted based on real-world datasets. Subsequently, a CNN-TCN deep learning algorithm is employed to train a model for identifying five-dimensional driver states. To mitigate excessive intervention and driving experience degradation caused by model misclassifications, a total probability weighting mechanism is developed. This mechanism integrates the real-time confidence distribution output by the neural network with the established baseline safety weights for each driving state, enabling the dynamic and continuous computation of the initial machine control authority. Furthermore, to eliminate high-frequency confidence spikes at the state perception end, a weight-smoothing strategy is designed using an adaptive nonlinear tracking differentiator based on Active Disturbance Rejection Control (ADRC). An autonomous driving controller is then constructed using the Linear Quadratic Regulator (LQR) method to ensure vehicle stability. Finally, Hardware-in-the-Loop (HIL) experiments conducted on a human–machine driving platform with hardware feedback verify the feasibility and superiority of the proposed method.