Cooperative lateral control between driver and ADAS by haptic shared control using steering torque assistance combined with direct yaw moment control

Abstract

This Paper investigates a new shared control system which combines haptic steering guidance torque together with Direct Yaw-Moment Control (DYC) in order to enhance path tracking performance and achieve good human-machine cooperative characteristics. The conventional steering assistance systems had a drawback in causing interference between the steering torque from a driver and the steering assistance systems when a large steering assistance level is set. The proposed system can potentially solve the interference problem, as DYC is used as an independent control input. The Driving simulator experiment is conducted to verify the effectiveness of the proposed Shared control system by using elderly drivers. Furthermore, the experiment on a micro-scale electric vehicle is conducted to demonstrate the effectiveness of the proposed system. The results show that the proposed system reduced the degree of the torque interference together with maintaining good path tracking performance.