Design of assist system which considers interaction with steering operation

This paper proposes a novel design method of a driver assist system to improve driving safety. For a constant vehicle velocity, an assist system model and a steering operation model are constructed iteratively via Hx loop shaping since both models interact with each other. Then the models designed at different velocities are scheduled since driver´s operation characteristics vary according to the vehicle velocity. It was shown that the proposed models performed excellently in lane change simulations where the vehicle velocity varied.