Human-machine cooperative driving is a human-machine hybrid enhancement technology that cooperates with the human driver and the assistance system to drive the vehicle. It can give full play to the respective advantages of the driver and the assistance system. The human-machine cooperative control is divided into lateral human-machine cooperative control and longitudinal human-machine cooperative control. In this paper, longitudinal human-machine cooperative control is summarized and analyzed from two aspects of driver braking behavior modeling and longitudinal human-machine cooperative control method. Firstly, the driver state monitoring, driver braking intention recognition and driver braking behavior modeling are analyzed. Then, the longitudinal human-machine cooperative control is systematically analyzed and discussed from three aspects: braking system which can be used for longitudinal human-machine cooperative control, only longitudinal human-machine cooperative control, and longitudinal and lateral human-machine cooperative control. Finally, the recommendations for future research directions are prospected from the longitudinal driving characteristics of the driver considering the impact of lateral motion and regenerative braking, the driver-vehicle-environment oriented human-machine cooperative control of composite braking, coupling relationship of longitudinal and lateral human-machine cooperative system and situation evaluation of the safety of the intended functionality, and the longitudinal and lateral coordinated control strategy of the human-machine cooperative system.
