Anticipatory and Compensatory e-Assistance for Haptic Shared Control of the Steering Wheel

Shared control is a solution which already showed beneficial effects during experiments for steering control in the automotive sector. It improves the tracking performance of pilots, by assisting them but without taking them out of the loop, making them able to deal with unexpected situations. This article presents a novel shared control strategy for car steering, using an original two parts method. On the one hand, the feedforward part consists of a trajectory generator based on the simulation of a virtual autonomous vehicle. On the other hand, a mixed H21Hoo control law constitutes the feedback part that is applied to the difference between the real and the virtual vehicle's states. A first benefit of such an architecture is that the two parts can be designed sequentially. Second, the virtual vehicle can be used to enlarge the possibilities of shared control's implementation to various ADAS: LKA, LCA, lane change, obstacle avoidance, etc. Finally, the sharing level between the human driver and the assistance is parameterizing the control synthesis process, and could be adapted during driving, e.g. for gradual switching between autonomous and manual modes. The proposed shared control strategy showed interesting results during simulation, both in terms of performance and quality of driving sharing.