The application discloses a
path tracking control method for a man-
machine co-driving type intelligent vehicle, and steps are as follows: a vehicle
path tracking error model is established, and a hierarchical control architecture is constructed, the hierarchical control architecture comprising an upper controller and a lower controller; the upper controller is configured to: in a human
driving mode, generating a first front wheel
steering angle through a two-point preview driver model, and in an automatic
driving mode, generating a second front wheel
steering angle through an automatic driving controller fusing a
radial basis function neural network, a
heuristic reinforcement adjustment mechanism and a non-singular fast
terminal sliding mode control; the lower controller is configured to: driving a
finite state machine to switch the
driving mode based on a
driving risk assessment index, and performing weighted fusion on the first front wheel
steering angle and the second front wheel steering angle in a driving authority
transition stage to output a final front wheel steering angle control instruction; the application solves the contradiction between
path tracking precision and chattering, switching safety and comfort, and is suitable for man-
machine collaborative control of an intelligent vehicle under multiple working conditions.