Cooperative copilot with active steering assistance for vehicle lane keeping Online publication date: Thu, 29-May-2014
by Jin-Chuan Hsu, Wen-Liang Chen, Kuang Horng Shien, Edge Chu Yeh
International Journal of Vehicle Design (IJVD), Vol. 19, No. 1, 1998
Abstract: A new vehicular steering system named cooperative copilot is developed for assisting the driver to keep vehicle in the lane safely. The concept is to construct a steering control system with driver and copilot operating at the same time, and the developed copilot can monitor the driver's control actions and correct them as necessary. The copilot can generate the bounds of feasible steering angle by a specially designed controller, and it can determine whether the appropriate steering correction should be applied. The previewed road curvatures are utilised and shaped as control references by a developed guidance law to reduce vehicular lateral acceleration, and the vehicle motion variables and road width are also employed for generating suitable zone of steering angle. A fixed-based driving simulator is used to examine the performance of the developed cooperative copilot and how it works with a human driver in the driving system.
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