Cooperative Shared Control Driver Assistance Systems Based on Motion Primitives and Differential Games

In this paper, a cooperative shared control driver assistance system that supports the driver in the steering task is proposed. The aim behind this concept is a cooperation between the driver and the assistance system. Thereby, both, driver and assistance system, can apply a torque on the steering wheel. Mathematically, this structure is described as a differential game. As a primary condition to facilitate cooperation, it is essential to explicitly regard the aims and steering actions of the driver for the calculation of the optimal torque, which the assistance system should apply. This requires an appropriate model of the human driver. A model that describes the driver steering motion as a sequence of motion primitives, which can be identified, is proposed for this task. Next, a real-time capable implementation of this concept is proposed. The concept is validated in a driving study. The study indicates that the system improves the lane keeping performance of the participants and leads to a higher user rating compared with noncooperative driver assistance systems.