Steering assistance system can be categorized by control input into steering angle and steering torque control. The steering torque control can provide some degree of freedom for driver to override the system; therefore, it has potential to use as a driver steering assistance system. This paper focuses on a lane-keeping assistance system that is expected to assist the driver in controlling vehicle and reduce driver's workload. The designing of lane-keeping assistance system using optimum control theory is proposed. Cooperative steering performance between driver and this system is proved by computer simulation and experiment using driving simulator. Moreover, assistance level is varied by using weighting function to evaluate the effect of assistance level of lane-keeping assistance system on cooperative steering performance.
Abstract