Design of steering operation model scheduled by vehicle velocity for lane change-Approach via H∞ loop shaping

This paper proposes a novel steering operation model scheduled by vehicle velocity. The model is constructed via the H_∞ loop shaping and accommodates uncertainty due to individual difference. The analysis by using a driver model is indispensable to design efficiently driver assistance systems that have been focused on recently. Since the driver´s operation characteristics vary according to vehicle velocity, the model must be scheduled by vehicle velocity. The proposed steering operation model shows excellent course following performances in lane change simulations.