Koopman operator-based driver-vehicle dynamic model for shared control systems

•Koopman operator theory is used to establish an explicit control-oriented driver-vehicle dynamic model.•An online hybrid delay-embedded extended dynamic mode decomposition algorithm is proposed.•Time-delay characteristic of driver-vehicle system dynamics is considered.•Multiple local Koopman driver models are constructed to improve driver modelling accuracy.•The Koopman driver model is updated online to capture the driver’s adaptive behaviour.