No abstract

This paper proposes a novel steering operation model scheduled by vehicle velocity. The model is constructed via the H∞ loop shaping. In order to improve driving safety, driver assistance systems have been focused on recently. The analysis by using a driver model is indispensable to design efficiently driver assistance systems. The proposed model must be scheduled by vehicle velocity since the driver's operation characteristics vary according to vehicle velocity. The model shows excellent course following performances in single/double lane change simulations with velocity change.

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 H ∞ 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.