Abstract
It presents a constrained model predictive control (MPC) scheme to discuss the shared steering control with a driver. It considers the shared control from the following two aspects that are the safety of vehicle and the driving intention of human. For the safety, obstacle avoidance is very important and it is taken as constraints. Furthermore, the vehicle's shape is considered. About the driving intention of human, the vehicle follow the driver's steering command as an objective in the scheme. Finally, simulations are carried out to validate the effectiveness of the constrained MPC approach.
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