To address the conflict of inconsistent driving intentions between the driver and driving assistance system in cooperative steering, a human–machine cooperative steering control framework based on non-cooperative Nash game is proposed. The competitive relationship between the driver and driving assistance system with different control objectives is modeled as a non-cooperative Nash game. The cooperative steering under human–machine Nash game condition is transformed into a model predictive control optimization problem to achieve coordination through Nash equilibrium. A flexible driving authority allocation strategy based on time-to-collision is then proposed for vehicle lateral control, with dynamic driving authority weights fed into the human–machine cooperative steering model in real time. The effectiveness of the non-cooperative Nash game human–machine cooperative steering strategy and flexible driving authority allocation strategy is validated through simulations and hardware-in-the-loop experiments. Results show the proposed strategy can improve vehicle safety while retaining certain driver freedom when human–machine control targets conflict, by flexibly transferring authority from the driver to the assistance system as collision risk increases.

针对协同转向中驾驶员与驾驶辅助系统驾驶意图不一致的冲突问题，提出一种基于非合作纳什博弈的人机协同转向控制框架。将具有不同控制目标的驾驶员与驾驶辅助系统之间的竞争关系建模为非合作纳什博弈。将人机纳什博弈条件下的协同转向转化为模型预测控制优化问题，通过纳什均衡实现协调。然后提出了一种基于碰撞时间的灵活驾驶权分配策略用于车辆横向控制，并将动态驾驶权权重实时输入到人机协作转向模型中。通过仿真和硬件在环实验验证了非合作纳什博弈人机协作转向策略和灵活驾驶权限分配策略的有效性。结果表明，当人机控制目标发生冲突时，该策略可以通过在碰撞风险增加时灵活地将权力从驾驶员转移到辅助系统来提高车辆安全性，同时保留一定的驾驶员自由度。