Intelligent electronic steering program based on road departure mitigation control

This paper presents an intelligent electronic steering program (IESP), which combines steering shared control with electronic road departure mitigation control via individual wheel braking. It is based on a recently published control allocation and moderation method designed to improve the vehicle's cornering performance in friction-limiting conditions. Here we develop the concept further in terms of driver-vehicle cooperative control; the potential benefits of electronic power assistance steering system (EPAS) are modified to guide the driver's steering behavior. A number of experiments are conducted with different drivers, using a driving simulator. The results show how the proposed IESP provides a positive control influence. The work presents a new approach to vehicle active safety involving driver-vehicle interaction control for partially automated vehicles.