Robust Shared Control System for Aggressive Driving Based on Cooperative Modes Identification

Aggressive driving behavior has greatly endangered vehicle safety and posed challenges to the design of advanced driver-assistance systems (ADASs). A novel driver–automation cooperative shared control system is proposed in this article to make steering assistance actions better cooperate with aggressive drivers. Based on investigating shared control modes, a driving activity parameter for drivers is introduced, which aims to modulate the shared control authority and mitigate the conflicts between aggressive drivers and ADAS. A polytope represented by finite vertices is employed to handle uncertain parameters, including driving activity and longitudinal velocity. Then, an H
$\infty $
robust output-feedback control method satisfying the regional pole assignment is presented to provide robustness and stability of the polytope space while simplifying the control structure through reducing vertices. The driver-in-the-loop simulator experiments are carried out to verify the proposed controller, in which the driver model parameters are identified. The results demonstrate that the developed assistance controller can effectively ensure path-tracking accuracy and simultaneously improve aggressive drivers’ comfort.