INTERVENTION-BASED SHARED CONTROL METHOD AND APPARATUS IN FORWARD COLLISION AVOIDANCE SCENARIO OF AUTONOMOUS VEHICLE

An intervention-based shared control method and apparatus in forward collision avoidance scenario of autonomous vehicle includes: acquiring vehicle state data of the autonomous vehicle and inputting the vehicle state data into a constructed forward collision avoidance control model to obtain an optimal nominal collision avoidance trajectory of the autonomous vehicle; and acquiring steering input data of a driver in controlling the autonomous vehicle, and obtaining the shared control method in the forward collision avoidance scenario of the autonomous vehicle. The present disclosure proposes a vehicle model decoupling method for control solution and risk prediction in a high-velocity forward collision avoidance scenario.