Article: Cooperative copilot with active steering assistance for vehicle lane keeping Journal: International Journal of Vehicle Design (IJVD) 1998 Vol.19 No.1 pp.78 - 107 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. Inderscience Publishers - linking academia, business and industry through research

Title: Cooperative copilot with active steering assistance for vehicle lane keeping

Authors: Jin-Chuan Hsu, Wen-Liang Chen, Kuang Horng Shien, Edge Chu Yeh

Addresses: Graduate student, Department of Power Mechanical Engineering, National Tsing Hua University, HsinChu, Taiwan, Republic of China. ' Professor, Department of Power Mechanical Engineering, National Tsing Hua University, HsinChu, Taiwan, Republic of China. ' Graduate student, Department of Power Mechanical Engineering, National Tsing Hua University, HsinChu, Taiwan, Republic of China. ' Professor, Department of Power Mechanical Engineering, National Tsing Hua University, HsinChu, Taiwan, Republic of China

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.

Keywords: cooperative copilot; lane keeping; preview guidance; steering assistance; vehicle steering; steering control; driving simulation; lateral acceleration; motion variables.

DOI: 10.1504/IJVD.1998.062096

International Journal of Vehicle Design, 1998 Vol.19 No.1, pp.78 - 107

Published online: 29 May 2014 *

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Title: Cooperative copilot with active steering assistance for vehicle lane keeping

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