Steering assistance system for driver characteristics using gain scheduling control

This paper proposes a new driver support system which uses both the steering wheel angle and the steering torque of the vehicle so as to take into account the characteristics of the driver's operation. The proposed method is based on a gain scheduling control to accomplish the cooperation between the driver and the support system. By numerical experiments which simulate obstacle avoidance, it is shown that the proposed method has a good tracking capability and cooperates well with driver's operation.

1 Introduction

The prevention of traffic accidents is one of the most important social requests. The accident prevention systems have been developed by a variety of schemes, for example, by adding some intelligence to the vehicles [1]. Among the research on the intelligent vehicles, an automated steering system has been studied [2]∼[4]. However, it has many problems such as recognition of driving situation and stabilization of vehicle dynamics.