European Control Conference (ECC03)

Steering Assistance System for Driver Characteristics
Using Gain Scheduling Control

Yukihiro Fujiwara and Shuichi Adachi

Abstract

This paper proposes a new driver support system which uses both the steering wheel angle and the steering torque of the vehicle so as to take into account the characteristics of the driver's operation. The proposed method is based on a gain scheduling control to accomplish the cooperation between the driver and the support system. By numerical experiments which simulate obstacle avoidance, it is shown that the proposed method has a good tracking capability and cooperates well with driver's operation.

Keywords: vehicle, driver support system, H-infinity control, gain-scheduling control, LMI.