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<p>The shared steering control (SSC) system is a solution for safe driving before achieving fully autonomous driving, however, its overall stability is easily affected by the driver characteristics. This paper investigates the problem of the design method for the SSC system to improve the overall stability of the system. The design method consists of three core contents: the SSC overall stability condition analysis, the drivers’ driving characteristic analysis, and the design condition of the controller obtaining. On this basis, a nonlinear controller is designed considering the control objectives comprehensively. The effectiveness of the proposed method is verified by simulation and experiment. The results show that the designed SSC system based on the proposed method can remain stable when the driver characteristics are poor. In addition, the designed system can effectively improve the path-tracking performance and stability of the vehicle, reduce human–machine conflict, and reduce the operating load of the driver and the workload of the controller. This research can improve SSC system stability, thereby contributing to the enhancement of system reliability and driving safety.</p>

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Design of shared steering control system with enhanced overall stability

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年9月30日

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  • Xueyun Li,
  • Yiping Wang,
  • Chuqi Su,
  • Zhaoqing Wang,
  • Xiaoyin Zheng,
  • Jin Huang

摘要

The shared steering control (SSC) system is a solution for safe driving before achieving fully autonomous driving, however, its overall stability is easily affected by the driver characteristics. This paper investigates the problem of the design method for the SSC system to improve the overall stability of the system. The design method consists of three core contents: the SSC overall stability condition analysis, the drivers’ driving characteristic analysis, and the design condition of the controller obtaining. On this basis, a nonlinear controller is designed considering the control objectives comprehensively. The effectiveness of the proposed method is verified by simulation and experiment. The results show that the designed SSC system based on the proposed method can remain stable when the driver characteristics are poor. In addition, the designed system can effectively improve the path-tracking performance and stability of the vehicle, reduce human–machine conflict, and reduce the operating load of the driver and the workload of the controller. This research can improve SSC system stability, thereby contributing to the enhancement of system reliability and driving safety.