The invention belongs to the technical field of
vehicle safety control and man-
machine interaction, and particularly relates to a man-
machine co-driving takeover decision-making, stability control and optimization method, which comprises the following steps of: A, constructing a
driving safety field model, reflecting the influence of a dynamic environment and road elements on a vehicle by constructing the safety field model, and providing a real-time basis for takeover decision-making; b, constructing a driver human factor capability field, and evaluating the takeover capability of the driver through multi-
modal data acquisition and real-time analysis; c, dynamically
coupling a safety field and a human factor capability field in the takeover decision; d, a man-
machine takeover mode judgment and
control power distribution method; e, the takeover scheme is screened and optimized, and further screening and adjustment are carried out through the comprehensive cost function of the optimization
algorithm and used for being executed in actual operation. The method has the advantages that the
handover between the automatic driving
system and the driver is intelligently controlled by evaluating the
environmental risk, the driver ability and the take-over time in real time, and it is ensured that driving right transfer is safely, timely and efficiently completed.