Design of shared steering control system with enhanced overall stability.

Area of Science:

• Automotive Engineering
• Control Systems
• Human-Machine Interaction

Background:

• Shared steering control (SSC) systems are crucial for advancing towards autonomous driving.
• System stability in SSC is significantly impacted by driver characteristics.
• Existing SSC designs often struggle with varying driver behaviors.

Purpose of the Study:

• To develop a robust design method for SSC systems that enhances overall stability.
• To address the challenge of driver characteristic variability in SSC systems.
• To improve the reliability and safety of vehicles equipped with SSC.

Main Methods:

• Analysis of SSC overall stability conditions.
• In-depth analysis of driver driving characteristics.
• Development of controller design conditions based on stability and driver analysis.
• Design of a comprehensive nonlinear controller.

Main Results:

• The proposed SSC system demonstrates stability even under poor driver characteristics.
• Significant improvements in vehicle path-tracking performance and stability were observed.
• Reduction in human-machine conflict and controller workload.
• Validation through both simulation and experimental testing.

Conclusions:

• The developed design method effectively enhances SSC system stability and reliability.
• The research contributes to safer and more efficient human-machine collaboration in driving.
• This work paves the way for more dependable semi-autonomous driving systems.