A Study on Shared Control between the Driver and an Active Steering Control System in Emergency Obstacle Avoidance Situations

Abstract

Recently, automatic steering systems for emergency obstacle avoidance have been studied extensively. The control input of such active steering control systems can be classified into the steering angle and the steering torque input. The steering torque based control provides some degree of freedom for drivers to control the vehicle motion, thus it has potential for development as steering assistance system. This paper describes the evaluation of shared control characteristics between human drivers and the active steering system for obstacle avoidance assistance system based on steering torque input. The shared control characteristics between the driver and the active steering system are investigated by using the driving simulator reconstructing a dangerous scenario.