ABSTRACT
This paper investigates a new shared control system which combines haptic steering guidance torque together with Direct Yaw-Moment Control (DYC) in order to enhance path tracking performance and achieve good human-machine cooperative characteristics. The experiment is conducted by using the driving simulator to verify the effectiveness of DYC on path tracking performance as well as the cooperative steering characteristics between human driver and steering assistance system. As the results, it is clarified that the proposed driver assistance system has positive shared control characteristics among the elderly drivers. Furthermore, the parameters of driver behavior model are identified using the experimental results. As a result, the haptic steering guidance torque can compensate the time delay in visual feedback of elderly drivers.
