• Introduces a novel multi-mode evasion assistance control (MEAC) method that coordinates collision avoidance safety with human-machine interaction.
• The S-EAC mode uses an integrated authority allocation mechanism to reduce human-machine conflict during shared control.
• The E-EAC mode employs model predictive control to generate additional yaw moments for emergency collision avoidance when the driver is unresponsive.
• Simulation and experiments demonstrate improved safety, stability, and reduced emergency steering in both modes.