Abstract

This paper presents an intelligent electronic steering program (IESP), which combines steering shared control with electronic road departure mitigation control via individual wheel braking. It is based on a recently published control allocation and moderation method designed to improve the vehicle's cornering performance in friction-limiting conditions. Here we develop the concept further in terms of driver-vehicle cooperative control; the potential benefits of electronic power assistance steering system (EPAS) are modified to guide the driver's steering behavior. A number of experiments are conducted with different drivers, using a driving simulator. The results show how the proposed IESP provides a positive control influence. The work presents a new approach to vehicle active safety involving driver-vehicle interaction control for partially automated vehicles. © 2016 IEEE.