Steering assistance system for driver characteristics using gain scheduling control

This paper proposes a new driver support system which uses both the steering wheel angle and the steering torque of the vehicle so as to take into account the characteristics of the driver´s operation. The proposed method is based on a gain scheduling control to accomplish the cooperation between the driver and the support system. By numerical experiments which simulate obstacle avoidance, it is shown that the proposed method has a good tracking capability and cooperates well with driver´s operation.