During the emergency braking process on the split- road, the lateral stability of the vehicle is poor, and the intervention of ABS will cause corresponding lateral disturbance. It is difficult for the driver to control the vehicle accurately. Especially at the end of the braking process, due to the withdrawal of ABS, the increase in braking pressure causes the longitudinal force of the tires on both sides to be inconsistent, which reduces the stability of the vehicle at this time. This paper proposed a shared control strategy to solve the related problems. First, a segmented active steering strategy is used in the driver’s intention optimization algorithm to optimize the driver’s actions in time at the initial stage of the braking process and to optimize the lateral stability of the vehicle by tracking the estimated tire slip angle at the end of the braking process. Then, according to the path envelope based on the driver’s path error neglecting feature and the dynamic state of the vehicle, a flexible control transfer mechanism is established. The trajectory following algorithm based on linear quadratic regulator is used to correct the driver’s intention optimization algorithm according to the flexible control transfer mechanism.
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