Integrated control design based on driver-in-the-loop vehicle dynamics

The paper proposes the control design of a driver assistance system in which the operations of the active control systems are in cooperation with the driver's actions. The vehicle dynamics is determined by the driver while the handling of lateral dynamics in crucial situations is assisted by the control systems. Monitoring and considering the driver's activities are crucial, since the driver is incorporated in the vehicle in a complex closed-loop system and the active components only assist the driver requirements. The control systems generate a brake yaw moment and an additional steering angle when the driver alone is not able to guarantee trajectory tracking. In the control-oriented model the interactions between the driver and the vehicle are formed. The control design in which the performance specifications and priority between the active components are handled is based on the LPV method.